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为实现具有开放结构的组合式教育机器人自动建模与动态仿真,建立了教育机器人的动力学模型及其仿真算法.首先,将教育机器人抽象为多体系统,利用牛顿-欧拉法建立其通用的动力学模型,并结合教育机器人的结构特点,以构件绑定方法对机器人模型进行了简化.其次,基于稀疏矩阵计算技术,对计算机仿真中常用的增广动力学求解算法和直接投影修正算法进行改进,以此作为教育机器人的仿真算法,提高仿真速度和精度.最后,通过一个算例验证了模型和改进算法的有效性.该研究为实现教育机器人仿真平台奠定了动力学基础.
In order to realize the automatic modeling and dynamic simulation of a combined educational robot with an open structure, a kinetic model and its simulation algorithm for educational robot are established.Firstly, the educational robot is abstracted into a multi-body system and established by Newton-Euler method , And combined with the structural characteristics of educational robot, the robot model is simplified by using the component binding method.Secondly, based on the sparse matrix computing technology, the commonly used algorithms of augmenting dynamics and direct projection correction in computer simulation As a simulation algorithm of educational robot to improve the speed and accuracy of the simulation.Finally, an example is given to verify the effectiveness of the model and the improved algorithm.The research lays the foundation for the realization of the educational robot simulation platform.