三自由度Delta机器人工作空间仿真方法研究

The Study on Simulation Method of 3-DOF Delta Robot Workspace

为了解决三自由度Delta机器人工作空间的仿真问题,在总结已有的Delta机器人工作空间仿真方法的基础上,基于Matlab和Catia提出了三种具有代表性的Delta机器人工作空间仿真方法,以实验室已有的三自由度Delta机器人为研究对象,按照其结构参数使用三种方法进行工作空间的仿真,对仿真结果进行对比分析,用实验室实物测量的数据进行验证。结果表明:三种仿真方法得到的工作空间相同,说明三种仿真方法都是可行的,其中基于Matlab位置正解法的仿真方法具有主动杆输入角度范围可调的优点,仿真结果与实验室测量数据吻合度最高,将主动杆输入角度逐步增大并使用该方法进行仿真发现:工作空间由下至上,由中心至边缘,沿三根主动杆方向,逐渐增加,直至完整。

For solving the problem of workspace simulation of 3-DOF Delta Robot, we propose three represen-tational workspace simulation methods by matlab and catia after summarizing the existing methods. Taking the Delta Robot in laboratory as the research object, three methods are used to simulate workspace by its structure parameters. And the results are compared and verified through the actual measured data. The results show that the workspace models of three simulation methods are same, so all the three methods are feasible. Because the simulation method based on forward position kinematic (FPK) solution in Matlab can change the range of input angle of active rod, its result has the highest data coincidence. Gradually increase the input angle and simulate on the method based on (FPK) solution, the results show that the working space is from the bottom up, from the center to the edge, along the three active bar, gradually increase, until the whole.