毕业设计（论文）-除冰机器人的控制仿真设计.docVIP

除冰机器人的设计 摘 要 随着科技的发展，机器人技术也越来越普及。在各个领域的发展到一定阶段，机器也开始代替人的工作，对那些具有安全隐患的工作也是机器人应用最多的地方，如今西南地区随着天气的影响对输电线的破坏也越来越加重，本次设计是针对这种情况设计一种专门除冰的一种机器人，通过对内部的控制设计达到对机械的操作，进而达到除冰的效果。在根据运动学仿真，验证了动作规划的合理性。接下来，用Lagrange法建立了机器人的多刚体系统动力学模型，推导了机器人逆动力学方程的求解算法，并结合机器人的虚拟样机，并且考虑导线的柔性，对除冰机器人单臂越障的过程进行了仿真，根据结果，为除冰机器人最薄弱的关节选择了合适和电机，验证了除冰机器人本体结构设计的可行性。最后，研究了柔性导线的悬挂形状，并用Lagrange方程建立了机器人的刚柔耦合动力学模型，在ADAMS中用除冰机器人的虚拟样机模型和导线的柔性模型进行了仿真，得到机器人运动与导线变形间耦合特性。验证了即使在考虑导线柔性的情况下，因此，研制安全有效的除冰机械以代替人进行导线除冰具有较好的实用意义。 关键词：除冰机器人 ；运动学；多刚体动力学；刚柔耦合动力学 Abstract With the development of science and technology, robotics is becoming increasingly popular. In various fields of development to a certain stage, machines began to replace the work of a place where most work is also a robot application security risks, and now the southwest with the weather damage to the transmission line more and more aggravated this design is a specialized de-icing for this case to design a robot, and internal control designed to meet the operation of machines, thus achieving the effect of de-icing.kinematics simulation to verify the rationality of the action plan. Next, using the Lagrange method, the robots multi-body dynamics model, the derivation of the algorithm of the robot inverse dynamics equations, combined with the virtual prototype of the robot, and to consider the flexibility of the wire de-icing robot single arm the more impaired the process of simulation, based on the results, the weakest de-icing robot joints to choose the right motor, verify the feasibility of de-icing design of the robot body structure. Finally, flexible wire hanging shape, and the Lagrange equations of the robot rigid-flexible coupling dynamic model, a flexible model of the virtual prototype model of the robot in ADAMS using de-icing and wire were simulated to get the robot motion coupling between the wire deformation features.verified even in the wire flexible, so the development of safe and effective de-icing machines to replace human conductors de-icing has prac