直线型DELTA并联机器人控制研究

Linear DELTA Parallel Robot Control Research

针对一种直线型DELTA并联机器人,研究了其模型构建与运动控制方法。介绍了一种直线型DELTA并联机器人的基本结构。根据其基本结构建立了完整的模型示意图,利用几何约束关系得到其运动学模型。在Matlab中求得运动学正、逆解,并利用M语言编写三维动态仿真程序来验证结构设计及对其运动学分析的有效性。利用C++语言将运动学函数封装成动态链接库文件供控制程序调用,采用Qt设计控制程序成功实现规划轨迹控制。仿真及实验结果验证了建立的直线型DELTA并联机器人模型的合理性及控制程序设计的有效性。

This paper studies the model construction and motion control of a kind of linear DELTA parallel robot.Firstly,this paper introduces the basic structure of a linear DELTA parallel robot.Secondly,this paper establishes a complete model diagram according to the basic structure of the robot,and its kinematics model is obtained by using geometric constraint relations,the positive and inverse kinematics are obtained in Matlab,and the validity of the structure design and kinematics analysis is verified by the 3D dynamic simulation program which is wrote in M language.Finally,we use C++language to encapsulate the kinematics function into a dynamic link library file for the control program to call.Further,we use Qt to design the control program and make the planned trajectory control successful.The simulation and experimental results verify the rationality of the linear DELTA parallel robot model and the effectiveness of the control program design.