根据拉格朗日方程,建立了灌装机械臂的动力学方程,再通过 MATLAB/ Simulink 仿真计算了各关节的力矩曲线。 由分析结果可知,选用的驱动装置满足使用要求。 建立了灌装臂的三维实体模型,导入 ADAMS 中进行了动力学仿真分析。 仿真结果表明,理论分析结果正确可靠,可为灌装机械臂的设计提供理论依据。

According to the Lagrange equation, the dynamics equation of filling manipulator was established. Then each joint's torque curve was obtained by MATLAB/ Simulink. The analysis results showed that the drive devices meet the requirements. Three-dimensional model of the filling manipulator was established by 3D software, and then dynamics simulation analysis was implemented in the ADAMS. Comparing the two kinds of results, it is concluded that the results of theoretical analysis was correct and reliable. The purpose was to provide a theoretical basis for filling manipulator design.