摘要
为提高并联机器人机构和运动控制设计的效率和准确性,以6-UPU并联机器人为研究对象进行运动仿真分析,验证其结构设计的合理性和控制算法的有效性。由并联机器人运动学逆解,求出动平台在期望位置处各支链对应的位移。在Matlab/Simulink环境中,导入并联机器人3D模型,对模型中六个支链添加驱动力,使其按照逆解求出的位移运动,并对各支链添加运动控制器以控制位移误差。对并联机器人动平台输入期望位移曲线时,仿真结果显示并联机器人能够按照期望的轨迹运动,验证了并联机器人机构设计和运动控制器设计的正确性。
In order to improve the efficiency and accuracy of the parallel robot mechanism design and motion control design,a 6-UPU parallel robot was used as the research object to carry out a motion simulation analysis to verify the rationality of its structural design and the effectiveness of the control algorithm.From the inverse kinematics of the parallel robot,the corresponding displacement of each branch of the moving platform at the desired position was obtained.In the Matlab/Simulink environment,a 3D model of a parallel robot was imported,and a driving force was added to the six branches in the model to make it move according to the displacement obtained by the inverse solution.A motion controller was added to each branch to control the displacement error.When the desired displacement curve was input to the parallel robot moving platform,the simulation results showed that the parallel robot could move according to the desired trajectory,thereby verifying the correctness of the parallel robot mechanism design and motion control design.
作者
刘曼
朱龙飞
卢青
LIU Man;ZHU Long-fei;LU Qing(Department of Electrical and Mechanical Engineering,Changzhou Liu Guojun Vocational Technology College,Changzhou Jiangsu 213025,China)
出处
《林业机械与木工设备》
2021年第1期22-25,29,共5页
Forestry Machinery & Woodworking Equipment
