本文關(guān)鍵詞： 并聯(lián)機(jī)器人 運(yùn)動(dòng)學(xué)分析 動(dòng)力學(xué)分析 仿真 控制設(shè)計(jì)　出處：《河南科技大學(xué)》2017年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：三自由度移動(dòng)并聯(lián)機(jī)器人具有結(jié)構(gòu)簡(jiǎn)單、控制系統(tǒng)設(shè)計(jì)容易、生產(chǎn)成本低等優(yōu)點(diǎn),是少自由度并聯(lián)機(jī)器人中得到研究最多的一種類(lèi)型。其良好的性能和廣泛的應(yīng)用前景,在機(jī)器人領(lǐng)域備受越來(lái)越多的學(xué)者關(guān)注。論文提出一種新型三自由度完全各向同性移動(dòng)并聯(lián)機(jī)器人。該機(jī)器人包含一個(gè)動(dòng)平臺(tái)、一個(gè)靜平臺(tái),以及連接兩平臺(tái)的三條完全相同的運(yùn)動(dòng)支鏈,每條支鏈分別由一個(gè)移動(dòng)副、兩個(gè)轉(zhuǎn)動(dòng)副和一個(gè)平行四邊形結(jié)構(gòu)組成�；邶R次坐標(biāo)變換法分析了機(jī)器人的運(yùn)動(dòng)學(xué)問(wèn)題,推導(dǎo)出其位置方程、速度方程和加速度方程,揭示了機(jī)構(gòu)的輸入運(yùn)動(dòng)與輸出運(yùn)動(dòng)間呈一一對(duì)應(yīng)的控制映射關(guān)系。然后分別用Matlab軟件進(jìn)行數(shù)值仿真分析和Pro/E軟件進(jìn)行虛擬樣機(jī)仿真分析,并描繪出位置方程、速度方程和加速度方程的曲線。詳細(xì)地討論了新型移動(dòng)并聯(lián)機(jī)器人的動(dòng)力學(xué)問(wèn)題。以“庫(kù)倫+粘性”摩擦模型為基礎(chǔ),推導(dǎo)出驅(qū)動(dòng)滑塊和球鉸所受的摩擦力/力矩方程。然后采用拆桿法把機(jī)器人分成驅(qū)動(dòng)滑塊、運(yùn)動(dòng)支鏈和動(dòng)平臺(tái)三個(gè)部分。在考慮摩擦的情況下,利用牛頓-歐拉法分別建立了驅(qū)動(dòng)滑塊、分支運(yùn)動(dòng)鏈和機(jī)器人動(dòng)平臺(tái)的動(dòng)力學(xué)模型,揭示了分支驅(qū)動(dòng)力和加在動(dòng)平臺(tái)上的外力之間的映射關(guān)系;最后基于ADAMS軟件和MATLAB編程對(duì)機(jī)器人動(dòng)力學(xué)進(jìn)行仿真,并繪制出驅(qū)動(dòng)力、滑塊所受的摩擦力和球鉸所受的摩擦力矩的變化曲線。采用“上位機(jī)+運(yùn)動(dòng)控制卡”開(kāi)放式控制系統(tǒng),通過(guò)位置控制模式對(duì)新型移動(dòng)并聯(lián)機(jī)器人實(shí)體物理樣機(jī)進(jìn)行控制運(yùn)動(dòng)。采用固高GT400-PCI-SV四軸運(yùn)動(dòng)控制卡和臺(tái)達(dá)交流伺服系統(tǒng),以及聯(lián)想計(jì)算機(jī)和機(jī)器人物理樣機(jī)組建了機(jī)器人的控制系統(tǒng)。基于Visual C 6.0軟件編寫(xiě)了控制系統(tǒng)的復(fù)位程序和運(yùn)動(dòng)控制程序。利用SolidWorks軟件中的路徑跟蹤功能求解了末端執(zhí)行器軌跡為圓的輸入函數(shù)曲線和位置坐標(biāo),并嵌入到運(yùn)動(dòng)控制程序進(jìn)行實(shí)體物理樣機(jī)實(shí)驗(yàn)測(cè)試,描繪其末端執(zhí)行器的軌跡,實(shí)驗(yàn)結(jié)果有效的驗(yàn)證了控制系統(tǒng)的有效性。論文研究為該機(jī)器人未來(lái)的實(shí)際應(yīng)用提供了堅(jiān)實(shí)的理論基礎(chǔ)。
[Abstract]:Three degrees of freedom parallel mobile robot control system has the advantages of simple structure, easy design, low production cost advantages, is a type of most low DOF parallel robot. Its good performance and broad application prospects, has attracted more and more attention of scholars in the field of robotics. This paper puts forward a model of three degrees of freedom fully isotropic parallel mobile robot. The robot consists of a moving platform, a static platform, and connect the two platform three identical kinematic chains, each chain are made up of a mobile side, two rotations and a parallelogram structure. The homogeneous coordinate transformation method to analyze kinematics problem based on the robot, the position equation is derived. The velocity equation and the acceleration equation reveals the input motion and the output movement of the mechanism is to control the one-to-one mapping relationship then. Analyze the virtual prototype simulation software using Matlab numerical simulation and Pro/E software, and describes the position equation, velocity equation and acceleration equation curve. The dynamics problem of new mobile robot is discussed in detail. The "Kulun + sticky" friction model based friction / drive slider and the ball hinge deduced torque equation. Then the split bar method to drive the robot is divided into blocks, kinematic chains and moving platform of three parts. In considering the case of friction by using the Newton Euler method were established for driving sliders, branch chain and dynamic robot motion dynamics model of the platform, reveals the driving force and the dynamic branch the mapping relationship between the external force on the platform; finally, based on the ADAMS and MATLAB software simulation of the robot dynamics, and draw out the driving force, the friction force and the ball slider The change curve of the friction torque hinge by. Using the "PC + motion control card" open control system, position control mode through the control of the new mobile robot. The physical prototype Gugao GT400-PCI-SV four axis motion control card and AC servo system, and Lenovo computer and robot prototype form the robot control system. Visual C 6 software control system reset program and motion control program based on tracking function solving actuator track end input function and the position coordinates of circle using path in SolidWorks software, and embedded into the motion control program of physical prototype test, describe actuator at the end of its trajectory, the experimental results verify the effectiveness of the control system. The research for the practical application of the robot in the future A solid theoretical basis is provided.

【學(xué)位授予單位】：河南科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：TP242

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