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应用螺旋理论对并联机器人形位的分析与综合 总被引:3,自引:0,他引:3
采用螺旋理论对并联机器人的约束与运动问题进行了分析和总结. 在各种约束存在条件下,分析了刚体平台相应的运动轨迹形式,为今后对多刚体的形位分析提供了可行的理论依据. 相似文献
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1引言
并联机器人具有输出精度高、结构刚性好、承载能力强、部件简单及运动学反解简单等许多串联机器人所没有的优点,近年来引起了机器人研究者的高度重视.其中,六自由度并联机器人方面的研究已比较深入和成熟.三自由度并联机器人是一种很有实用前景的机器人,也越来越多地引起人们的注意.三自由度并联机器人包括平面三自由度并联机器人,球面三自由度并联机器人和空间三自由度并联机器人.球面三自由度并联机器人能够实现运动平台三维转动,是一种角台形式,由静角台、动角台和三组具有一定弧度的连杆架和连杆构成,各联接处均采用转动副.这种机构结构复杂、设计困难。 相似文献
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针对并联机器人控制系统比传统串联机器人更加复杂的问题,将虚拟仿真技术应用到并联机器人控制策略的研究上.以三自由度Delta并联机器人为例,为便捷高效实现其控制系统仿真,利用Simulink为仿真平台,结合SimMechanics Link接口软件,提出了三维Pro/E模型转换成SimMechanics模型的建模方法建立机械系统模型,并设计PID控制器模型进行仿真分析.结果表明,该方法为并联机器人控制策略的研究提供了高效的仿真平台,便于展开针对并联机器人特点的各种控制策略的研究. 相似文献
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并联机器人基于滑模理论的模糊控制 总被引:2,自引:0,他引:2
根据并联机器人控制的特点,运用一种基于滑模理论的模糊控制方法对它进行控制。这种控制算法简单,具有很强的鲁棒性,还能够保证系统的稳定性。仿真结果表明,它对并联机器人的控制具有良好的效果。 相似文献
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并联机器人具有无摩擦无间隙、响应快、结构紧凑、刚性好、误差积累小等特点,但其在几何特性方面也存在很多缺点,如运动范围小、灵活性差以及工作空间内存在奇异位形等,加入冗余度可以改善它的几何特性。由于冗余驱动并联机器人在工作空间、灵活性、避障能力及动力特性等方面具有优点,因而受到了越来越多的重视,本文提出一种三自由度的冗余驱动并联机器人控制研究方法,主要从冗余并联机器人的运动学模型、工作空间、MATLAB仿真及其控制程序开发等主要方面进行了深入细致的研究。 相似文献
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5自由度并联机器人设计方法 总被引:4,自引:0,他引:4
本论文以螺旋理论为基础,提出一种系统的结构综合方法.根据各条支链对运动平台所提供的反螺旋
约束的线性关系,研究了构成五自由度并联机器人机构的各条支链所有可能的运动副组合以及它们的空间几何条
件.利用这一方法,设计出一组结构对称的五自由度并联机器人. 相似文献
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Architecture Selection and Singularity Analysis of a Three-Degree-of-Freedom Planar Parallel Manipulator 总被引:3,自引:0,他引:3
Imtehaze Heerah Beno Benhabib Bongsoo Kang James K. Mills 《Journal of Intelligent and Robotic Systems》2003,37(4):355-374
A three degree-of-freedom planar parallel manipulator, intended for high-speed, high-precision wire-bonding and electronic-component placement tasks, has been developed in our laboratory. In this paper, the work related to the kinematic manipulator-architecture selection is presented. The reachable workspace and effective base area metrics of the parallel manipulator were utilized for selecting the best possible architecture amongst six potential configurations. Constant platform-orientation regions, within the reachable workspace of the selected manipulator, were identified based on the manipulator task requirements. Simulation results for the workspace analyses (reachable workspace, effective base areas, and constant-orientation regions) are presented in this paper. Once the optimal-workspace architecture was selected, both workspace-boundary and internal singularities were further investigated in order to have a clear view of the set of uncontrollable poses of the manipulator. Singularity analyses examples are also included herein. 相似文献
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本论文旨在解决非过约束4自由度并联机构综合这一机构学难题。本文在总结已有的4自由度并联机器人综合结果的基础上,结合运动子群的概念和螺旋理论的方法,技术性地解决了约束数目和支链数目之间存在的矛盾。利用解析的手段给出了一套全新的非过约束对称4自由度并联机构设计方法。定义了一系列便于综合该机构的概念,分析了该类机构必须具有的拓扑结构,得出两种类型的该类并联机构。给出了满足设计条件的运动副组成情况及空间装配条件,最后给出了典型机构的设计范例。 相似文献
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Kinematics of a Hybrid Manipulator by Means of Screw Theory 总被引:1,自引:0,他引:1
J Gallardo-Alvarado 《Multibody System Dynamics》2005,14(3-4):345-366
In this work the kinematics of a hybrid manipulator, namely a fully parallel-serial manipulator, with a particular topology
is approached by means of the theory of screws. Given the length of the six independent limbs, the forward position analysis
of the mechanism under study, indeed the computation of the resulting pose, position and orientation, of the end-platform
with respect to the fixed platform, is carried out in closed-form solution. Therefore conveniently this initial analysis avoids
the use of a numerical technique such as the Newton-Raphson method. Writing in screw form the reduced acceleration state of
the translational platform, with respect to the fixed platform, a simple expression for the computation of the acceleration
of the translational platform is derived by taking advantage of the properties of reciprocal screws, via the Klein form, a
bilinear symmetric form of the Lie algebra e(3). Following a similar procedure, a simple expression for the computation of the angular acceleration of the end-platform,
with respect to the translational platform, is easily derived. Naturally, as an intermediate step, this contribution also
provides the forward and inverse velocity analyses of the chosen parallel-serial manipulator. Finally, in order to prove the
versatility of the expressions obtained via screw theory for solving the kinematics, up to the acceleration analysis, of the
proposed spatial mechanism, a numerical example is solved with the help of commercial computer codes. 相似文献
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A New Approach for the Dynamic Analysis of Parallel Manipulators 总被引:14,自引:0,他引:14
A new approach for the dynamic analysis of parallel manipulators is presented in this paper. This approach is based on the principle of virtual work. The approach is firstly illustrated using a simple example, namely, a planar four-bar linkage. Then, the dynamic analysis of a spatial six-degree-of-freedom parallel manipulator with prismatic actuators (Gough–Stewart platform) is performed. Finally, a numerical example is given in order to illustrate the results. The approach proposed here can be applied to any type of planar and spatial parallel mechanism and leads to faster computational algorithms than the classical Newton–Euler approach when applied to these mechanisms. 相似文献
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设计了一种应用于扫描电镜的四自由度并联定位平台.该平台结构简单,便于集成微操作装置和实现微结构物性在线检测.为使所设计的定位平台具有高的定位精度,建立了平台的误差矢量模型.通过模拟仿真手段分析了结构误差和上平台分支分布对平台末端定位精度的影响,分析了在大载荷作用下机构在非自由度方向产生的角位移输出. 相似文献
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Dynamic formulation of a planar 3-DOF parallel manipulator with actuation redundancy 总被引:1,自引:0,他引:1
In this paper, based on the conventional Newton–Euler approach, a simplification method is proposed to derive the dynamic formulation of a planar 3-DOF parallel manipulator with actuation redundancy. Closed-form solutions are developed for the inverse kinematics. Based on the kinematics, the Newton–Euler approach in simplification form is used to derive the inverse dynamic model of the redundant parallel manipulator. Then, the driving force optimization is performed by minimizing an objective function which is the square of the sum of four driving forces. The dynamic simulations are done for the parallel manipulator with both the redundant and non-redundant actuations. The result shows that the dynamic characteristics of the manipulator in the redundant case are better than that in the non-redundancy. The redundantly actuated parallel manipulator was incorporated into a 4-DOF hybrid machine tool which includes a feed worktable. 相似文献