一种三自由度冗余驱动并联机器人控制研究
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摘要
并联机器人一般由多条运动轴组成,具有响应快、刚性好、精度高等优点,但是由于其机械结构的复杂性导致其也存在着明显缺点,如各支链之间存在相互耦合使得工作区域内存在奇异位形,加入冗余度可以消除奇异位形从而改善它的几何特性,冗余并联机器人作为一种新型的机器人形式得到了越来越多的重视,基于三自由度冗余驱动并联机器人提出一种控制研究方法,主要从冗余并联机器人的运动学模型、工作空间、MATLAB仿真及其控制软件开发等主要方面进行了深入细致的研究。
Parallel robot usually consists of multiple axes,has advantages of fast response,good rigidity and high precision,but also due to the complexity of its mechanical structure exists obvious shortcoming,such as the mutual coupling between the branched chain makes the work area is the singular form,add redundancy can eliminate singular configuration so as to improve its geometric features,redundant parallel robot as a new form of robot has attracted more and more attention,based on the 3-dof redundant drive put forward a kind of parallel robot control methods,mainly from main aspects:the redundant parallel robot kinematics model,the workspace,Matlab simulation and its control software development carried on the thorough careful research.
Parallel robot usually consists of multiple axes,has advantages of fast response,good rigidity and high precision,but also due to the complexity of its mechanical structure exists obvious shortcoming,such as the mutual coupling between the branched chain makes the work area is the singular form,add redundancy can eliminate singular configuration so as to improve its geometric features,redundant parallel robot as a new form of robot has attracted more and more attention,based on the 3-dof redundant drive put forward a kind of parallel robot control methods,mainly from main aspects:the redundant parallel robot kinematics model,the workspace,Matlab simulation and its control software development carried on the thorough careful research.
引文
[1]冯李航,张为公,龚宗洋.Delta系列并联机器人研究进展与现状[J].机器人,2014,36(3):375-384.
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[3]尹光才,訾斌,陈桥,等.混合驱动腰部康复机器人机构设计及运动学分析[J].机械传动,2016,40(4):68-73.
[4]陈修龙,蒋德玉,陈林林,等.冗余并联机构运动学性能分析与优化[J].农业机械学报,2016,47(6):340-347.
[5]郭宗和,杜晴晴,杨启志.新型3-PRRS并联机构位置正反解分析[J].中国机械工程,2015,26(4):451-455.
[6]吴昊.基于虚拟现实的并联机器人仿真系统开发[D].沈阳:东北大学,2014.
[7]龚中强.一种高速拾取并联机器人控制系统的开发与应用[D].大连:大连理工大学,2015.
[2]马瑶,宋胜涛,李瑞琴,等.三自由度刚柔耦合并联机器人位置解和工作空间研究[J].机械传动,2017,41(12):14-18.
[3]尹光才,訾斌,陈桥,等.混合驱动腰部康复机器人机构设计及运动学分析[J].机械传动,2016,40(4):68-73.
[4]陈修龙,蒋德玉,陈林林,等.冗余并联机构运动学性能分析与优化[J].农业机械学报,2016,47(6):340-347.
[5]郭宗和,杜晴晴,杨启志.新型3-PRRS并联机构位置正反解分析[J].中国机械工程,2015,26(4):451-455.
[6]吴昊.基于虚拟现实的并联机器人仿真系统开发[D].沈阳:东北大学,2014.
[7]龚中强.一种高速拾取并联机器人控制系统的开发与应用[D].大连:大连理工大学,2015.