三自由度Delta并联机器人的设计与仿真Word文件下载.docx
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理论上,我国末期输送能力和定位精确度高、小误差、惯性误差、反应速度快、工业工作并行、快速准确、现有工业工程预计会进一步增加,本文将研究并行研究、实用化并行以企业工学实用化为目标。
从摩擦接口、外乱和不确定性来看,如果没有连锁和动力学模型化的负担,传统的控制战略将难以得到基于控制有效性模型的预期。
通常,与一系列平行于更复杂的运动模型相比,动态测试和控制机制将更加复杂。
因此,有必要研究并联机构的动力学建模及其控制问题。
这是一个新的机器人,机器人的刚性。
承载能力高。
高精度。
小负荷的重量。
具有良好的性能和广泛的应用,是robotó
w.spokojnie系列的补充。
有一个固定的一部分,在特点和实验室条件下的动力学加速度(重力加速度),.终端控制机制,原来的三角洲是最有效的机制平行安装“电子项目机器人是机器人的控制和规划动力学研究的基础上,发挥着重要的作用,在“.badaniakinematykę反向动力学和由简单到przodu.odwrotnie相对平行前进,kinematykę相对skomplikowane.na结构分析的基础上,建立了三角洲机器人模型,机器人的机器人。
stkich部分的位置,以确定在平台和动态方程的向量之间的关系,是平台机构的位置方程,这是在相反的位置移动到正确的解决方案,给出了方程的基础上,三角洲机器人的位置,是解决方案的一部分,在组织机构的速度和加速度基于工业技术平行机制,工业工作认同其多样性,于是开始使用并行机制,目前不构成有效的控制方法,取得更好的结果,参照其机构控制系统,优化基本工业技术用言及了。
关键词:
机器人,方案,设计,仿真,:
新型3-DOF并联机构
Abstract
Thetechnicallevelofagriculturalrobotsisanimportantsymbolofacountry'
sagriculturalmodernizationlevel.Withthecontinuousexpansionoftheresearchandapplicationfieldsofagriculturalrobots,therequirementsofmodernagriculturaloperationsareconstantlyimproving,andthecomplexityofcontroltasksisincreasing.Higherperformancerequirementsareputforwardforagriculturalrobotsandtheircontrol.Comparedwiththeseriesmechanismcommonlyusedingeneralrobots,intheory,parallelmechanismhasmanyadvantages,suchasstrongbearingcapacity,highpositioningaccuracy,smallinertiaofendcomponents,nocumulativeerrorandfastresponsespeed.Agriculturalrobotsbasedonparallelmechanismareexpectedtofurtherimprovetheoperationofexistingagriculturalrobotsintheneedofhigh-speedandhigh-precisionagriculturalengineeringapplications.Performance.Thispaperfocusesontheresearchofparallelmechanism,inordertolayafoundationforfurtherrealizingthepracticalapplicationofparallelrobotinagriculturalengineering.Fromthepointofviewofcontrol,parallelmechanismisacomplexspatialmulti-chainmechanismwithmulti-variableandmulti-parametercoupling.Influencedbyuncertainfactorssuchasmechanismparameters,unmodeleddynamics,loaddisturbance,mechanismjoints,servofrictionandexternaldisturbance,traditionalcontrolstrategiesaredifficulttoachievethedesiredcontroleffect.Thecontrolbasedondynamicmodelcanmeetthehighperformanceofparallelmechanism.Thedynamicmodelofparallelmechanismisusuallymorecomplexthanthatofseriesmechanism.Therefore,itisnecessarytostudythedynamicmodelingandcontrolofparallelmechanism.
Parallelrobotisanewkindofhumanrobot.Ithasaseriesofadvantages,suchashighstiffness,strongcarryingcapacity,highprecision,lowself-weightloadratio,gooddynamicperformance,andsoon.Itcomplementstheseriesrobotwidelyusedatpresent,thusexpandingtheapplicationfieldofrobot."
Deltaparallelrobotisthemosttypicalthree-degree-of-freedommobileparallelmechanisminspace,andtheoverallstructureofDeltamechanism."
Simple!
Compact,thedrivingpartsarealldistributedonthefixedplatform.Thesecharacteristicsmakeithavegoodkinematicsanddynamicscharacteristics.Undertheexperimentalconditions,theterminalcontrolaccelerationcanreach5.09-(gravityacceleration)."
AlotofpracticehasprovedthatDeltamechanismisoneofthemostsuccessfulparallelmechanismsdesignedsofar."
Atpresent,Deltaparallelrobothasbeenwidelyusedincosmeticspackagingandpharmaceuticals!
Theassemblyofelectronicproducts"
Robotkinematicsisthebasisofrobotdynamics!
Robotcontrolandplanning,whichplaysanimportantroleinrobotresearch"
Kinematicsresearchincludesforwardkinematicsandreversekinematics.Forparallelrobot,itsreversekinematicsisrelativelysimpleandforwardkinematicsiscomplex."
ThispaperstudiesthekinematicsofDeltarobotwiththreedegreesoffreedom"
.ThestructureofDeltarobotisanalyzed,thekinematicsmodelisestablished,andthespatialpositionandpostureofeachcomponentaredetermined.Basedonthevectorrelationshipbetweenthemovingplatformandthestaticplatformandtheconstraintequationofthemechanism,thekinematicsequationofthemechanismisestablished,theinversepositionsolutionformulaisdeduced,andthenumericalsolutionoftheforwardpositionsolutionisgiven.Onthebasisoftheinversepositionsolutionequation,theworkingspaceofDeltarobotisanalyzed.TheJacobianmatrixofthemechanismisderived,andthevelocityandaccelerationaresolved.
Theapplicationofagriculturalrobotsbasedonparallelmechanismsinagriculturalengineeringhasjuststarted.Duetothediversityofparallelmechanisms,thereisnorecognizedeffectivecontrolmethod.Consideringthatslidingmodecontroldoesnotrequireprecisemathematicalmodelofthecontrolledobject,isinsensitivetoexternaldisturbancesandparameterchangesofthesystem,andiseasyto