冗余驱动串并联机器人运动学联合仿真

Combined simulation research on the kinematics of serial-parallel robot with redundant drive

为了分析冗余驱动对直角坐标串并联机器人的动力学性能的影响,应用ADAMS和MATLAB对其进行了动态联合仿真,通过对已经建立的实体模型和关节运动控制变量的定义,运动轨迹的选取,以及合理选择运动学求解控制算法,最终可以获取动画、平面图形、具体数据等仿真分析结果,联合仿真的方法为复杂机械系统的改进和完善提供了新思路。

For the sake of analyzing the influence on dynamics property of Cartesian coordinates serial-parallel robot affected by redundant drive, the dynamic combined simulation on the property has been carried out by the application of ADAM and MATLAB. By way of defining the already established entity model and controlling variables of joint movement, and by means of selecting the motion track and of reasonable selecting the control algorithm for kinematics solution, the simulative analytical results of animated drawing, planar figure and concrete data etc. can be finally obtained. The joint simulation method has provided a new train of thought for the improvement and perfection of complex mechanical system.