【摘要】：與串聯(lián)機(jī)構(gòu)相比,經(jīng)過合理設(shè)計(jì)的并聯(lián)機(jī)構(gòu),一般具有剛度大、精度高等優(yōu)點(diǎn),但由于其閉環(huán)結(jié)構(gòu)的特點(diǎn),會(huì)導(dǎo)致工作空間相對(duì)較小、末端執(zhí)行器因姿態(tài)角不足而影響加工性能等問題。如今,由少自由度并聯(lián)機(jī)構(gòu)與其它運(yùn)動(dòng)方向串聯(lián)機(jī)構(gòu)組合所構(gòu)成的并串聯(lián)機(jī)構(gòu)成為研究的熱點(diǎn)。本文針對(duì)一種基于Delta工業(yè)機(jī)器人的五自由度混聯(lián)機(jī)器人進(jìn)行研究,此機(jī)器人在很大程度上既突破了純并聯(lián)機(jī)構(gòu)在工作空間方面的限制,又彌補(bǔ)了純串聯(lián)機(jī)構(gòu)在剛度方面的不足。首先,采用螺旋理論分析了混聯(lián)機(jī)器人并聯(lián)部分的運(yùn)動(dòng)性質(zhì),并使用K-G修正公式確定了混聯(lián)機(jī)器人的運(yùn)動(dòng)自由度;使用D-H法建立了混聯(lián)機(jī)器人的數(shù)學(xué)模型并推導(dǎo)了混聯(lián)機(jī)器人的逆運(yùn)動(dòng)方程;采用空間幾何解析法對(duì)混聯(lián)機(jī)器人進(jìn)行了分析,推導(dǎo)了正運(yùn)動(dòng)學(xué)的解析解;使用MATLAB軟件對(duì)混聯(lián)機(jī)器人的運(yùn)動(dòng)學(xué)正反解算法進(jìn)行了仿真與驗(yàn)證,證明了運(yùn)動(dòng)學(xué)正反解算法有效可行并可滿足工程應(yīng)用。其次,基于混聯(lián)機(jī)器人并聯(lián)部分的逆運(yùn)動(dòng)學(xué)算法,提出采用圖解法分析混聯(lián)機(jī)器人并聯(lián)部分的工作空間,并將結(jié)果與蒙特卡洛法生成的工作空間進(jìn)行對(duì)比,驗(yàn)證了圖解法分析的正確性;采用圖解法分析了串聯(lián)部分的工作空間以及整個(gè)混聯(lián)機(jī)器人的工作空間。再次,簡(jiǎn)要介紹了機(jī)器人軌跡規(guī)劃概念及相關(guān)理論;在關(guān)節(jié)空間中重點(diǎn)比較了三次多項(xiàng)式和五次多項(xiàng)式插值算法,運(yùn)用MATLAB軟件計(jì)算運(yùn)動(dòng)學(xué)反解,并繪制模擬各關(guān)節(jié)的位置、速度和加速度等曲線;在笛卡爾坐標(biāo)空間中采用直線及圓弧插補(bǔ)方法對(duì)混聯(lián)機(jī)器人進(jìn)行軌跡規(guī)劃。最后,在ADAMS/View中驗(yàn)證了添加運(yùn)動(dòng)副后的混聯(lián)機(jī)器人自由度數(shù)目為五;使用STEP5函數(shù)作為驅(qū)動(dòng)函數(shù)對(duì)混聯(lián)機(jī)器人進(jìn)行了仿真試驗(yàn),繪制了混聯(lián)機(jī)器人各關(guān)節(jié)以及末端點(diǎn)的運(yùn)動(dòng)學(xué)變化曲線;結(jié)果顯示,各曲線在中間路徑點(diǎn)處平滑無突變,驗(yàn)證了所推導(dǎo)的運(yùn)動(dòng)學(xué)算法的正確性,也驗(yàn)證了五次多項(xiàng)式插值算法能保證混聯(lián)機(jī)器人仿真過程運(yùn)行平穩(wěn),這將有助于減少對(duì)電機(jī)的損害,從而延長(zhǎng)混聯(lián)機(jī)器人使用壽命,并且為軌跡規(guī)劃控制的進(jìn)一步研究提供了理論基礎(chǔ)。
[Abstract]:Compared with series mechanism, the reasonably designed parallel mechanism usually has the advantages of large stiffness and high precision, but because of its closed-loop structure, the workspace is relatively small. Due to the lack of attitude angle, the processing performance of the end-effector is affected. Nowadays, the parallel series mechanism which is composed of the combination of the parallel mechanism with less degrees of freedom and the series mechanism in other directions of motion has become a hot topic in the field of research. In this paper, a five-degree-of-freedom hybrid robot based on Delta industrial robot is studied. To a great extent, this robot not only breaks through the limitation of workspace of pure parallel mechanism, but also makes up for the deficiency of stiffness of pure series mechanism. Firstly, the motion property of the parallel part of the hybrid robot is analyzed by using the screw theory, and the motion freedom of the hybrid robot is determined by the KG correction formula. In this paper, the mathematical model of hybrid robot is established by using DH method, and the inverse motion equation of hybrid robot is deduced, and the analytic solution of forward kinematics is deduced by analyzing the hybrid robot with spatial geometric analysis method. The kinematics forward and inverse solution algorithm of hybrid robot is simulated and verified by using MATLAB software. It is proved that the kinematics forward and inverse solution algorithm is effective and feasible and can satisfy the engineering application. Secondly, based on the inverse kinematics algorithm of the parallel part of the hybrid robot, a graphic method is proposed to analyze the workspace of the parallel part of the hybrid robot, and the results are compared with the workspace generated by the Monte Carlo method. The correctness of graphic analysis is verified. The workspace of the series part and the workspace of the whole hybrid robot are analyzed by graphic method. Thirdly, the concept and related theory of robot trajectory planning are introduced briefly. In the joint space, the interpolation algorithms of cubic polynomial and quintic polynomial are compared emphatically. The inverse kinematics solution is calculated by using MATLAB software, and the curves simulating the position, velocity and acceleration of each joint are drawn. The trajectory planning of hybrid robot is carried out by linear and circular interpolation in Cartesian coordinate space. Finally, it is verified in ADAMS/View that the number of degrees of freedom of the hybrid robot with the addition of motion pairs is five. The STEP5 function is used as the driving function to simulate the hybrid robot, and the kinematic curves of each joint and the end of the hybrid robot are drawn. The results show that each curve has no abrupt change at the intermediate path point, which verifies the correctness of the derived kinematics algorithm, and verifies that the quintic polynomial interpolation algorithm can ensure the smooth operation of the simulation process of the hybrid robot. This will help to reduce the damage to the motor and prolong the service life of the hybrid robot, and provide a theoretical basis for the further study of trajectory planning and control.
【學(xué)位授予單位】：昆明理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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