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针对一种新型3UPUUPS并联机器人进行了运动学和动力学分析,建立该并联机器人的运动学及动力学模型,在此基础之上运用Mat Lab中的Sim Mechanics模块精确建立该并联机器人仿真模块。根据该并联机器人的运动情况设计动平台运动轨迹,经逆解模块产生各个支链的运动轨迹,设计PID驱动控制器驱动该并联机器人进行仿真。最后将数值计算与仿真结果进行对比分析,结果表明:该种方式建立的机械模型和控制均都符合实际系统特性,并且避开了并联机构平台复杂的建模过程,对其他并联机构有很大的借鉴意义。
Kinematics and dynamics analysis of a new type of 3UPUUPS parallel robot are carried out. The kinematics and dynamics model of the parallel robot is established. Based on this, the Sim Robotics module in Mat Lab is used to build the parallel robot simulation module . According to the motion of the parallel robot, the kinematic trajectory of the moving platform is designed. The trajectory of each branch is generated by the inverse solution module. The PID controller is designed to drive the parallel robot to simulate. Finally, the numerical analysis and simulation results are compared and analyzed. The results show that: the mechanical model and control established in this way are in line with the actual system characteristics, and avoid the complex modeling process of the parallel mechanism platform, the other parallel mechanism has a large The reference significance.