ADAMS存在基础振动机械臂的建模仿真与控制实验研究
在本文中，我们首先介绍了包括机械臂、电机、增量式编码器、电机控制器和减速箱在内的单自由度机械臂机电系统，建立了该机电系统的三文模型，结合该系统控制图对电机驱动下的机械臂机电系统进行ADAMS与MATLAB联合仿真，在无基础振动和存在随机基础振动两种不同的情况下进行了仿真分析，证明随机基础振动对机械臂的动态特性具有十分重要的影响。26387
关键词 大口径自行火炮 弹药传输机械臂 单自由度机械臂机电系统 随机基础振动
毕业论文设计说明书外文摘要
Title A Modeling, simulation and Control Research of the mechanic arm with basic vibration happening
Abstract
The core part of large-caliber artillery ammunition can do self-loading, and its performance determines the level of artillery modernization level of digitization. This article is targeted on large-caliber self-propelled artillery ammunition transmission arm with automatic loading system, and shows a vibration manipulator system after being simplified . Combined with the actual output control , the actual implementation of control program provides a good simulation of ammunition transport arm in response to external random excitation control process,which provides a foundation for improving the self-loading ammunition theory .
First of all,this article talks about the mechanical and electrical systems including single DOF manipulator arm, motor, incremental encoder, the motor controller and gearbox, including the establishment of a three-dimensional model with single degree of freedom.Using ADAMS and MATLAB to simulate the electric and mechanical systems in two different situation: the presence of random vibration-free foundation existing or not ,we can prove that basic vibration has significant impact on the dynamic characteristics of the robot arm.
Keywords：large-caliber self-propelled artillery ammunition transfer arm single degree of freedom arm random basic vibration
目 次
1 绪论 1
1.1 引言 1
1.2 本课题国内外研究现状 2
1.2.1 国外研究现状 2
1.2.2 国内研究现状 3
1.3 本文主要研究内容 4
2 单自由度机械臂机电系统机电系统设计 5
2.1 机械臂机电系统总体方案设计 5
2.1.1 弹药传输机械臂机电系统简介 5
2.1.2 系统方案设计 6
2.2 机械臂传输系统各部件选择 6
2.2.1 直流电机的选择 7
2.2.2 增量式编码器的选择 8
2.2.4 电机控制器 10
2.2.5 末端减速器和联轴器的选择 11
2.3 单自由度机械臂机电系统 11
2.4 本章小结 12
3 电机驱动下机械臂机电系统仿真 13
3.1 虚拟仿真技术概述及ADAMS简介 13
3.1.1虚拟仿真技术概述 13
3.1.2 ADAMS简介 13
3.2 机械臂机电系统仿真 13
3.2.1 系统基本模型 13