基于Simulink的Stewart平台仿真研究

Stewart平台是一种6自由度的并联机器人机构，该文介绍了基于Simulink的SimMechanics模块集对Stewart平台进行仿真研究的方法，在具体分析SimMechanics模块集中各模块的使用及参数设置方法的基础上，运用该模块集对Stewart平台进行了建模。既便于使用SimMechanics模块集建立其他复杂机械系统的模型，又利于对Stewart平台进行深入研究。最后针对某Stewart平台的轨迹跟踪问题进行了仿真研究，获得了满意的结果。     

基于Virtual.lab的柔性并联机器人仿真平台

为了实现柔性并联机器人的快速可视化建模,提供柔性并联机器人动力学分析的新途径,针对柔性并联机器人系统内刚体、柔体耦合的难点,利用Virtual.lab软件对VBA的支持及其处理机械系统弹性动力学问题的优势,结合数据库技术、参挝数化建模原理和柔性并联机器人动力学仿真的特点,对Virtual.lab软件进行二次开发,建立柔性并联机器人动力学仿真平台,可实现柔性并联机器人动力学特性的分析.该平台操作简单,建模效率高,计算速度快,便于机械工程师在机械设计中使用.为柔性并联机器人结构优化设计及运动学、动力学规划指标的确定提供科学依据.     

并联微机器人的逆动力学

本文基于牛顿 欧拉法建立了一类PSS副、带柔性铰链的六自由度并联微机器人的 逆动力学方程,这是设计、控制微机器人的前提和基础．所建模型不仅考虑了因柔性铰链的 特殊性,微机器人连杆绕自身轴线转动的内部运动,还分析了柔性球铰弹性变形产生的反力 矩．由于微机器人机构本体以及逆动力学建模过程中所固有的并联特性,对逆动力学可实施 并行算法．最后以一实例进行了仿真分析,仿真结果表明微机器人所需驱动力呈线性变化, 揭示了微机器人在微动情况下的线性本质．     

基于SimMechanics的三自由度并联机器人仿真

Delta型机器人是一种三自由度纯平动并联机构,介绍了应用Simulink的SimMechanics模块集对Delta平台进行仿真研究的方法。运用SimMechanics模块对并联机器人进行建模,并根据机构的几何特性建立运动学逆解求取模块,给出动平台规划运动轨迹,通过运动学逆解求取模块生成机构驱动轴输入运动信号,对机构模型进行运动仿真。仿真结果表明,所建立的机械模型和逆解求取模块以及轨迹跟踪都符合实际系统特性,仿真方法高效、实用。     

N自由度机器人仿真的实现

对N自由度机器人进行了数学建模和仿真研究。构建了N自由度机器人的运动学数学模型，然后基于牛顿欧拉方程建立了机器人的动力学模型。用此种方法建立的模型随着自由度的增加，机器人模型的复杂程度相对其他方法来说增加较慢，迭代速度快。借助Matlab和Simulink强大的计算和绘图能力实现了N自由度机器人的运动轨迹的实时检测、运动学求解、动力学求解、轨迹生成、机械手动态演示等功能，可以用于机器人教学或使用机器人的工业环境中进行仿真演示或实时检测。具有较高的应用价值。     

无人机六自由度飞行建模与仿真研究

鉴于无人机在军事和民用领域广泛的发展,用数字仿真的手段可以验证无人机在特定条件下是否达到了飞行品质的要求,进而进行半实物仿真,最后进行飞行试验。通过飞行仿真可以缩短无人机的研制周期,降低研制经费和风险。无人机六自由度飞行仿真建模研究对无人机系统的初期研究和后期模拟训练器的研制都起着重要的作用。课题组利用Simulink工具进行了无人机六自由度飞行建模仿真研究,所建立的无人机的六自由度空气动力学模型既可以进行纯数字的仿真试验,也可以为后续研制高逼真的无人机模拟训练器中无人机动力学模型设计打下基础。     

仿人机器人7DOF腿部的运动分析与仿真

传统的6自由度腿部逆运动学求解可以得到唯一解,仿人机器人7自由度腿部由于冗余自由度的存在,其逆运动学求解比6自由度腿部更难.本文采用D-H方法对现有的仿人机器人7自由度的下肢进行运动学建模与分析,用位姿分离法求解步行运动中的逆运动学解,在LMS Virtual.Lab仿真平台上仿真,为解决机器人的动力学问题做必要的准备.     

基于MATLAB的某型机器人运动学可视化仿真平台实现

针对六自由度机器人关节运动强耦合难分析的问题,开发了可视化机器人仿真、平台.该平台以KLD 600型六自由度教学机器人为研究对象,利用MATLAB集成仿真环境,分别实现了机器人正逆运动学计算、机器人点动和联动操作的动画田演示等功能,且所有功能以图形用户界面的形式进行调用.该仿真、平台可作为机器人教学和科研的仿真工具.     

用户自定义建模离线编程与仿真平台设计

目前存在的离线编程与仿真系统仍运行于单一系统或平台下,所能加载的机器人类型限于某一种或某一公司的某种型号;基于此提出了一个基于Qt框架的离线仿真和编程系统,通过设计规划了图形库系统并定义了相应的装配文本格式,实现了当前广泛使用的6旋转自由度工业机器人的用户自定义加载,还分别对六自由度工业机器人运动学进行了分析,并介绍了系统的总体结构,还描述了指令编译系统;最终以六自由度弧焊机器人UPR100为例,仿真结果证明系统较好地满足了具备柔性化建模的六旋转自由度工业机器人离线编程及仿真平台的要求。     

三自由度Delta并联机器人动力学建模及仿真分析

以Delta并联机构为模型,利用其几何关系建立逆向动力学数学模型。利用三维实体建模软件Pro/E建立三自由度并联机器人的实体模型,导入到动力学仿真软件ADAMS进行运动学和动力学仿真,所得结果与理论结果一致。为三自由度并联机器人的控制器设计与优化提供仿真数据支撑,也为并联机器人的结构研究与开发奠定了理论基础。     

Dynamics analysis for a novel 6-DoF parallel manipulator I with three planar limbs

A novel 6-DoF parallel manipulator I with three planar limbs is proposed and its dynamics is analyzed systematically. First, its characteristics and DoF are analyzed and calculated. Second, the formulae for solving kinematics of the moving platform and the planar limbs are derived. Third, the formulae for solving the inertial wrench applied on the planar limbs and the moving platform are derived, and dynamics formula is derived for solving dynamic active forces applied onto the planar limbs. Fourth, a singularity of the proposed parallel manipulator is determined and analyzed. Fifth, an analytic example is given for solving the kinetostatics and dynamics of the proposed parallel manipulator, and the solved results are analyzed and verified by the simulation mechanism. Finally, a workspace is constructed and analyzed by comparing with an existing 6-DoF parallel manipulator.     

Dynamics of the 6-6 Stewart parallel manipulator

Recursive matrix relations in kinematics and dynamics of the 6-6 Stewart–Gough parallel manipulator having six mobile prismatic actuators are established in this paper. Controlled by six forces, the manipulator prototype is a spatial six-degrees-of-freedom mechanical system with six parallel legs connecting to the moving platform. Knowing the position and the general motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each manipulator’s link. Further, the inverse dynamics problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations with their multipliers. Finally, compact matrix relations and graphs of simulation for the input velocities and accelerations, the input forces and powers are obtained.     

Observer-based backstepping control of a 6-dof parallel hydraulic manipulator

In this paper, a backstepping control strategy is proposed to control the 6-dof parallel hydraulic manipulator (Stewart platform) while incorporating an observer-based forward kinematics solver. Different from conventional control methods, the proposed control considers not only the platform dynamics but also the dynamics of the hydraulic actuator. One feature of this work is employing the observer-based forward kinematics solution to achieve the posture tracking goal successfully only with the measurement of actuators lengths. When designing the controller of hydraulic actuators, the friction compensation is applied to improve the performance. The stability of the whole system is thoroughly proved to ensure convergence of the control errors. Simulations and experimental results are presented to validate the hereby proposed results.     

Dynamics analysis of the Star parallel manipulator

Matrix relations in kinematics and dynamics of the Star parallel manipulator are established in this paper. The prototype of the manipulator is a three-degree-of-freedom mechanism, which consists of a system of parallel kinematical chains connecting to a moving platform. Knowing the translation motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity and acceleration of each robot’s link. Further, the inverse dynamics problem is solved using an approach based on the principle of virtual work, but it has been verified the results in the framework of the Lagrange equations with their multipliers. Recursive formulae offer expressions and graphs for the power requirement comparison of each of three actuators in two computational complexities: complete dynamic model and simplified dynamic model.     

Dynamics analysis of a novel 5-DoF 3SPU+2SPRR type parallel manipulator

A novel 5-DOF 3SPU+2SPRR type parallel manipulator is proposed. First, the formulae are derived for solving the kinematics parameters of the moving platform. Second, the kinematics of the active legs and connection rod are analyzed, and the formulae for solving velocity and acceleration of the active legs and connection rod are derived. Third, the formulae are derived for solving the dynamic active and constrained forces. Finally, an analytic example is given for solving the dynamics, and the analytic solved results are verified by the mechanism simulation. This paper is aimed at laying a solid theoretical and technical foundation for its prototype manufacture and control.     

一种基于任务的机器人全局并行算法研究及实现

本文提出了一种基于任务的机器人全局并行算法，结合主从结构的MIMD并行处理平台将机器人控制中的运动学、动力学、控制律等基本计算任务分别进行任务划分，将划分好的子任务统一用工作池方式实现全局的动态调度．采用流水线及集中式动态调度策略，在一个由5个DSP处理器组成的同构型松耦合MIMD并行处理平台上对平面机器人进行了并行实时仿真实验，取得了满意的并行性能指标．     

Inverse dynamics of a parallel manipulator

Presented is an analysis of the kinematics and the inverse dynamics of a proposed three degree of freedom (dof) parallel manipulator resembling the Stewart platform in a general form. In the kinematic analysis, the inverse kinematics, velocity, and acceleration analyses are performed, respectively, using vector analysis and general homogeneous transformations. An algorithm to solve the inverse dynamics of the proposed parallel manipulator is then presented using a Lagrangian technique. In this case, it is found that one should introduce and subsequently eliminate Lagrange multipliers to arrive at the governing equations. Numerical examples are finally carried out to examine the validity of the approach and the accuracy of the numerical technique employed. The trajectory of motion of the manipulator is also performed using a cubic spline. © 1994 John Wiley & Sons, Inc.     

并联机器人研究的进展与现状

并联机器人是一类全新的机器人，它具有刚度大、承载能力强、误差小、精度高、 自重负荷比小、动力性能好、控制容易等一系列优点，在21世纪将有广阔的发展前景。本文 根据掌握的大量并联机器人文献，对其在运动学、动力学、机构性能分析等方面的主要研究 成果、进展以及尚未解决的问题进行了阐述。     

Dynamics of the spherical 3- \mathit{U\underline{P}S/}S parallel mechanism with prismatic actuators

Recursive relations in kinematics and dynamics of the symmetric spherical 3- parallel mechanism having three prismatic actuators are established in this paper. Controlled by three forces, the parallel manipulator is a 3-DOF mechanical system with three parallel legs connecting to the moving platform. Knowing the position and the rotation motion of the platform, we develop first the inverse kinematics problem and determine the position, velocity, and acceleration of each manipulator’s link. Further, the inverse dynamic problem is solved using an approach based on the principle of virtual work, but it has been verified using the results in the framework of the Lagrange equations with their multipliers. Finally, compact matrix relations and graphs of simulation for the input forces and powers are obtained.     

Analysis of kinematics/statics and workspace of a 2(SP+SPR+SPU) serial–parallel manipulator

The kinematics/statics and workspace of a 2(SP+SPR+SPU) serial–parallel manipulator are studied systematically. First, a 2(SP+SPR+SPU) manipulator including an upper and a lower SP+SPR+SPU parallel manipulators is constructed, and the inverse/forward displacements, velocity, acceleration and statics of the lower/upper parallel manipulators are studied, respectively. Second, the kinematics and statics of the lower/upper manipulators are combined and the displacement, velocity, acceleration, statics, and workspace of a 2(SP+SPR+SPU) manipulator are analyzed systematically. Third, the analytic solutions’ examples are given and verified by the simulation mechanism. This manipulator has some potential applications for the robot’s arm, leg, and twist, the serial–parallel machine tools, the sensor, the surgical manipulator, the tunnel borer, the barbette of warship, and the satellite surveillance platform.