摘要
步进电机具有体积小、转矩大、转速范围宽等优点。并联机器人具有刚度大、承载能力强、误差小等特点。针对一种以步进电机驱动的并联机器人机构,分析了其运动学正解和反解,在其工作空间中进行了轨迹规划,并建立了控制系统模型,设计了模糊控制算法,完成了对支路期望运动轨迹的跟踪,实现了对该并联机器人的高精度实时控制。
Step motor features small in the volume ,big in the torque and wide in the range of speed. Parallel robot possesses the characteristics of large rigidity,strong load bearing capacity and small error. Directed against the parallel robot mechanism with step motor drive ,the closed-formed solutions were developed far both inverse and direct kinematics ,a track planning in its workspace has been carried out,and a model of control system was establish,after that a kind of fuzzy control algorithm was designed,and a simulative experiment was made on the Matlab/Simulink. The result shows that this algorithm achieved high precision real-time control on this parallel robot.
出处
《机械设计与制造》
北大核心
2009年第7期190-192,共3页
Machinery Design & Manufacture
