摘要
设计一款基于6-RSS并联机器平台的新型小球系统,先对6-RSS并联机器平台进行逆运动学求解,得出控制平台旋转舵机所需转动的角度,再采用4线电阻屏采集小球在平板上的位置,对小球系统利用拉格朗日函数进行数学模型求解,提出LQR控制器模型,最终对控制器进行Simulink仿真,得到在阶跃响应下小球位置和平板转角的响应曲线。
Design a new ball system based on the 6-RSS parallel machine platform.First,solve the inverse kinematics of the 6-RSS parallel machine platform to obtain the rotation angle required to control the platform’s rotating steering gear.A 4-wire resistive screen was used to collect the position of the ball on the plate,and the mathematical model of the ball system was solved by using Lagrangian functions,and the LQR controller model was proposed.Simulink simulation of the controller was performed to obtain the ball position under the step response.And the response curve of the plate corner.
作者
刘艳梨
刘海瑞
邹上元
LIU Yanli;LIU Hairui;ZOU Shangyuan(College of Electrical Engineering,Jiangsu College of Safety Technology,Xuzhou 221011;College of Transportation and Safety,Jiangsu College of Safety Technology,Xuzhou 221011)
出处
《现代制造技术与装备》
2021年第4期117-120,共4页
Modern Manufacturing Technology and Equipment
基金
国家自然科学基金资助项目“柔性并联机器人辅助细胞微操作系统的设计与容错定位技术研究”(51975277)。
