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并联机器人力控制算法实时并行处理 总被引:2,自引:0,他引:2
对并联机器人力控制算法基于并行结构的计算进行了研究,设计了并行处理双机系统结构。采用文中的处理方法大大提高了并联机器人力控制算法的处理速度,保证了实时力控制,进而改善并联机器人的控制质量与性能。 相似文献
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6—6型Stewart机器人的可操作性分析及其定义 总被引:5,自引:0,他引:5
本文根据并联机器人的特点,运用可操作度的概念,进一步提出了位置可操作度和姿态可操作度的定义。通过对位置反解直接求导,建立了6-6型stewart机器人的位置,恣态和综合可操作度的公式,为并联机器人的运动学分析提供了依据。 相似文献
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机器人六维力传感器静态标定研究 总被引:3,自引:0,他引:3
针对Stewart并联结构的机器人六维力传感器,设计了其静态标定装置,对静态标定系统的结构组成及标定步骤进行研究。以机器人手指用六维力传感器为例进行了试验,对试验结果的分析表明了该标定系统设计及标定方法的正确性及实用性。 相似文献
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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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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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C. C. Nguyen S. S. Antrazi J-Y Park Z-L Zhou 《Journal of Intelligent and Robotic Systems》1992,6(2-3):263-281
This paper presents the kinematic analysis and trajectory planning for a six-degrees-of-freedom end-effector whose design is based on the Stewart platform mechanism. The end-effector is composed of two platforms and six linear actuators driven by stepper motors. A spring-loaded platform is used to provide passive compliance to the end-effector during a part assembly. A closed-form solution is derived for the inverse kinematic transformation and a computationally effective numerical solution is obtained for the forward kinematic transformation using the Newton-Raphson method. Three trajectory planning schemes, two for fine motion and one for gross motion are developed. Experimental results of tracking various test paths are presented. 相似文献
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由于传统Stewart平台有支链运动耦合和工作空间小的缺点,因此以串并联混合机构形式,提出一种新型的六自由度并联机构。为解决运动耦合和工作空间小的问题,并且在保证运动精度的前提下降低生产成本,主要运用矩阵代数工具分析了该机构的反向运动学,运用数值迭代解法分析了该机构的正向运动学,并对该机构的速度加速度进行了分析。通过Adams仿真软件对运动学模型进行数值验证及分析,深入研究了该机构的运动特性和线性度,实验结果证明这种机构具有运动解耦特性和旋转对称性,可以进行良好的线性运动。通过Matlab仿真软件分析对机构驱动器的误差进行研究,实验结果证明该机构用于天文望远镜支撑平台时,保证动平台的运动精度的同时降低了生产成本。 相似文献
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针对多目标优化算法对目标次序表现敏感这一特点,提出对灰熵并行分析法的目标次序敏感性进行分析.以多目标流水车间调度问题为对象,建立不同目标次序的多目标流水车间调度模型,以基于灰熵并行分析的GA优化不同次序的多目标模型.定义敏感系数,绘制敏感系数曲线图.实验结果表明,灰熵并行分析法对目标次序敏感,按目标值大小排列的升序和降序并不是最好的次序,震荡次序敏感系数最小.表明多目标优化时要选择合理目标次序以获得更好的优化结果.算法适应度值同样对目标次序敏感,对算法搜索效果影响明显. 相似文献
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Spyros Tzafestas Minos Kotsis Triantafyllos Pimenides 《Journal of Intelligent and Robotic Systems》2002,34(4):489-503
The design and simulation of two optimal control schemes for a parallel flexible link manipulator of the Stewart type is presented. The first control scheme combines a nonlinear rigid model of the flexible manipulator with a linear rigid observer, whereas the second scheme uses a nonlinear flexible manipulator model with a linear flexible observer. The majority of the results available in the literature do not address the optimal control problem through the use of observers, as it is done in this paper, for the control of parallel robots. The simulation results have shown in both cases that indeed optimal state-obscrver-based control is a good candidate for controlling parallel-link manipulators in practice. As expected, the second scheme (flexible model plus flexible observer) gives better results than the first one, achieving faster trajectory tracking. The effects of white noises, applied forces, and zero gravity environment were taken under consideration. 相似文献
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考虑到空间机械臂在执行在轨维修、在轨组装、在轨加注等复杂危险的空间任务时,其精准、灵巧的操控技术的重要性,从不同类型空间机械臂构形、末端执行器出发,分析了空间机械臂的发展趋势。综述了空间机械臂操控过程中涉及的5项关键技术,包括:交会对接与捕获技术、自主规划与智能控制技术、传感与感知技术、智能协同与操控技术及系统安全保障技术。最后,就现有的空间机械臂在操控过程中面临的问题,提出未来的发展方向及展望。 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