| XY-DELTA冗余驱动机器人运动学建模与仿真分析 |
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| 引用本文： | 吕有界,王立涛,苏发. XY-DELTA冗余驱动机器人运动学建模与仿真分析[J]. 机床与液压, 2019, 47(15): 68-71 |
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| 作者姓名： | 吕有界 王立涛 苏发 |
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| 作者单位： | 广州航海学院创新创业学院,广东广州,510725;广州航海学院创新创业学院,广东广州,510725;广州航海学院创新创业学院,广东广州,510725 |
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| 基金项目： | 广州市创新创业教育项目（2017202102）；黄埔区科技计划项目（201540）；广东省“攀登计划”专项资金项目（pdjh2018a0381） |
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| 摘 要： | 为了扩大DELTA机构工作空间,设计了一种新型冗余XY-DELTA机构并对其进行了运动学建模。利用ADAMS软件设计了DELTA机构系统;根据实际需要,设计了XY平台,将DELTA系统安装于XY平台末端组成XY-DELTA机构系统;并对该冗余系统进行了运动学建模。最后进行了仿真实验,验证了XY-DELTA的运动学模型正确可行,能够克服DELTA机构系统工作空间小的缺点,具有一定的实用价值。
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| 关 键 词： | XY-DELTA机构 DELTA机构 ADAMS XY平台 |
Design and Kinematic Model Simulation of XY-DELTA Redundant Robot |
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| LV Youjie,WANG Litao,SU Fa. Design and Kinematic Model Simulation of XY-DELTA Redundant Robot[J]. Machine Tool & Hydraulics, 2019, 47(15): 68-71 |
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| Authors: | LV Youjie WANG Litao SU Fa |
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| Affiliation: | (School of Innovation and Entrepreneurship, Guangzhou Maritime University,Guangzhou Guangdong 510725,China) |
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| Abstract: | In order to extend the workspace of DELTA robot, a new kind of redundant XY-DELTA robot is designed and its kinematics is modeled. First, the DELTA robot system was designed by using ADAMS software, and then according to the actual need, XY platform was designed, and DELTA system was installed at the end of the XY platform, and the model of the redundant system was built. Finally, simulated experiments show that feasibility of the model of XY-DELTA robot system is verified, and can improve the shortcomings of the DELTA robot system which has a small workspace, which has a certain practical reference value. |
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| Keywords: | XY-DELTA robot DELTA robot ADAMS XY platform |
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