基于ADAMS的4-RUPaR高速搬运并联机器人轨迹规划与运动学仿真

Trajectory planning and kinematics simulation of the 4-RUPaR high-speed handling parallel robot based on ADAMS

由于并联机构的复杂性,通过理论计算分析机器人实际规划轨迹下的运动学性能是十分困难的.为了预测4-RUPaR高速搬运并联机器人机构在搬运轨迹下的运动学性能,在ADAMS中建立了并联机构的虚拟样机,对机构进行拾取放置轨迹规划和在规划轨迹下的正逆运动学仿真.通过分析仿真结果,预测机构在规划轨迹下的运动学性能指标,为机构优化设计、控制策略研究、规划轨迹优化和物理样机制造提供参考.仿真结果表明,规划轨迹设计合理,机构运动学性能良好.

Due to the complexity of the parallel mechanism, predicting the kinematic performance of the robot under actual planning trajectory by theoretical calculations is very difficult. In order to forecast kinematic performance of the 4-RUPaR high-speed handling parallel robot under actual handling trajectory, virtual prototype of the parallel mechanism was built in ADAMS. Then pick- place trajectory planning and forward inverse kinematic simulation were made. By analysis of the simulation results, we forecasted kinematic performance indicators of the mechanism under actual handling operation er^vironment which provided a reference and basis for mechanism optimal design, control strategy study, planning trajectory optimization and physical prototyping. The results show that the planning trajectory is reasonable and the kinematics performance of the mechanism is good.