Open AccessSIMULATION OF KINEMATIC AND DYNAMIC CHARACTERISTICS OF A ROBOT MANIPULATOR USING A VIRTUAL PROTOTYPE
Author(s) -
K. Chuev,
I. Duyun
Publication year - 2021
Publication title -
vestnik bgtu im. v.g. šuhova
Language(s) - English
Resource type - Journals
ISSN - 2071-7318
DOI - 10.34031/2071-7318-2021-6-5-95-104
Subject(s) - kinematics , trajectory , acceleration , robot , simulation , computer science , dynamic simulation , control theory (sociology) , angular velocity , artificial intelligence , physics , control (management) , classical mechanics , quantum mechanics , astronomy
The article presents a method for modeling the kinematic and dynamic parameters of the robot manipulator model KUKA KR 6 R900-2. The simulation is performed using a virtual prototype of a robot designed in the KOMPAS 3-D computer-aided design system and exported to the MSC Adams software package. The prototype of the robot is represented by idealized parts corresponding to the real links of the structure. The joints of the links are implemented by articulated joints. Various options of the robot working out a given trajectory of movement with varying the angular velocity of its turns and the applied load of the potential load are investigated: the maximum speed at the maximum weight of the load, the nominal speed at the nominal weight of the load and the minimum speed at the minimum weight of the load. The specified trajectory of movement is divided into separate stages, a certain set of workloads is applied during the simulation in each. The simulation is carried out in a three-coordinate space. The result of the simulation is kinematic parameters, such as movement, speed, acceleration, and dynamic parameters – moments in the robot's joints. The obtained results allow to perform a comparative analysis of the operating loads at different stages of the trajectory, to identify unfavorable conditions, such as critical peak values of accelerations and emerging moments of forces