| 基于SimMechanics的新型并联机构仿真平台 |
| |
| 引用本文： | 孙坚,丁永生,郝矿荣.基于SimMechanics的新型并联机构仿真平台[J].计算机仿真,2010,27(1):181-184,196. |
| |
| 作者姓名： | 孙坚 丁永生 郝矿荣 |
| |
| 作者单位： | 1. 东华大学信息科学与技术学院,上海,201620
2. 东华大学信息科学与技术学院,上海,201620;数字化纺织服装技术教育部工程研究中心,上海,201620 |
| |
| 基金项目： | 国家自然科学基金重点项目(60534020);;教育部新世纪优秀人才支持计划(NCET-04-415);;教育部科技创新工程重大项目培育资金项目(706024);;上海市国际科技合作基金项目(061307041) |
| |
| 摘 要： | 针对一种新型六自由度并联机器人进行了运动学和动力学分析,并借助于MatLab的SimMechanics模块的系统动态建模功能,以六自由度并联机器人仿真模型为对象,设计了PID控制器形成闭环控制,最后构成一个仿真平台。结果表明：在平台上可以进行运动学、动力学、控制方法的研究。同时仿真平台由各模块组成,可以灵活改变各模块的参数和结构,并且避开了Stewart平台的复杂的建模过程,对所有并联机构的研究都有借鉴作用。
|
| 关 键 词： | 六自由度并联机器人 运动学 动力学 控制方法 仿真平台 |
A SimMechanics Based Simulation Platform for a Novel Parallel Manipulator |
| |
| SUN Jian,DING Yong-sheng,HAO Kuang-rong.A SimMechanics Based Simulation Platform for a Novel Parallel Manipulator[J].Computer Simulation,2010,27(1):181-184,196. |
| |
| Authors: | SUN Jian DING Yong-sheng HAO Kuang-rong |
| |
| Affiliation: | 1.College of Information Science and Technology/a>;Donghua University/a>;Shanghai 201620/a>;China/a>;2.Engineering Research Center of Digitized Textile & Fashion Technology/a>;Ministry of Education/a>;China |
| |
| Abstract: | At first the kinematics and dynamics of a novel parallel manipulator with six degrees of freedom were analyzed in this paper,then a PID controller was designed with the model of 6-PSS parallel manipulator as control object to form close loop,finally a simulation platform was built by modeling dynamically adopting SimMechanics module in MatLab.Results show that the platform can be used to study the kinematics,dynamics and control methods.At the same time the simulation platform may supply a reference to all ... |
| |
| Keywords: | 6 dDOF Parallel manipulator Kinematics Dynamics Control methods Simulation platform |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
