三自由度Delta并联机器人的设计与仿真Word文件下载.docx

1、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robotw.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

2、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“.badania kinematyk反向动力学和由简单到przodu.odwrotnie相对平行前进，kinematyk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，

3、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AbstractThe technical level of agricultural robots is an important symbol of a countrys agricultural modernization level. With the continuous expansion of the research and application fields of agricul

4、tural robots, the requirements of modern agricultural operations are constantly improving, and the complexity of control tasks is increasing. Higher performance requirements are put forward for agricultural robots and their control. Compared with the series mechanism commonly used in general robots,

5、 in theory, parallel mechanism has many advantages, such as strong bearing capacity, high positioning accuracy, small inertia of end components, no cumulative error and fast response speed. Agricultural robots based on parallel mechanism are expected to further improve the operation of existing agri

6、cultural robots in the need of high-speed and high-precision agricultural engineering applications. Performance. This paper focuses on the research of parallel mechanism, in order to lay a foundation for further realizing the practical application of parallel robot in agricultural engineering. From

7、the point of view of control, parallel mechanism is a complex spatial multi-chain mechanism with multi-variable and multi-parameter coupling. Influenced by uncertain factors such as mechanism parameters, unmodeled dynamics, load disturbance, mechanism joints, servo friction and external disturbance,

8、 traditional control strategies are difficult to achieve the desired control effect. The control based on dynamic model can meet the high performance of parallel mechanism. The dynamic model of parallel mechanism is usually more complex than that of series mechanism. Therefore, it is necessary to st

9、udy the dynamic modeling and control of parallel mechanism. Parallel robot is a new kind of human robot. It has a series of advantages, such as high stiffness, strong carrying capacity, high precision, low self-weight load ratio, good dynamic performance, and so on. It complements the series robot w

10、idely used at present, thus expanding the application field of robot. Delta parallel robot is the most typical three-degree-of-freedom mobile parallel mechanism in space, and the overall structure of Delta mechanism. Simple! Compact, the driving parts are all distributed on the fixed platform. These

11、 characteristics make it have good kinematics and dynamics characteristics. Under the experimental conditions, the terminal control acceleration can reach 5.09 - （gravity acceleration）. A lot of practice has proved that Delta mechanism is one of the most successful parallel mechanisms designed so fa

12、r. At present, Delta parallel robot has been widely used in cosmetics packaging and pharmaceuticals! The assembly of electronic products Robot kinematics is the basis of robot dynamics! Robot control and planning, which plays an important role in robot research Kinematics research includes forward k

13、inematics and reverse kinematics. For parallel robot, its reverse kinematics is relatively simple and forward kinematics is complex. This paper studies the kinematics of Delta robot with three degrees of freedom. The structure of Delta robot is analyzed, the kinematics model is established, and the

14、spatial position and posture of each component are determined. Based on the vector relationship between the moving platform and the static platform and the constraint equation of the mechanism, the kinematics equation of the mechanism is established, the inverse position solution formula is deduced,

15、 and the numerical solution of the forward position solution is given. On the basis of the inverse position solution equation, the working space of Delta robot is analyzed. The Jacobian matrix of the mechanism is derived, and the velocity and acceleration are solved. The application of agricultural

16、robots based on parallel mechanisms in agricultural engineering has just started. Due to the diversity of parallel mechanisms, there is no recognized effective control method. Considering that sliding mode control does not require precise mathematical model of the controlled object, is insensitive to external disturbances and parameter changes of the system, and is easy to