摘要
为研究并联机器人驱动位移轨迹跟踪控制精度,更好地对机构进行有效的实时控制,以3-RPS并联机器人的动平台以及各支链为研究对象进行了动力学分析.应用牛顿-欧拉方法,分析了该并联机器人三支链对动平台的驱动力、约束力矩以及动平台对三支链的作用力,构建了动力学方程.基于Matlab仿真软件,采用液压伺服驱动方式及模糊控制算法,构建模糊控制仿真模型进行了仿真分析.仿真结果证明了牛顿-欧拉方法对3-RPS并联机器人动力学分析的正确性及模糊控制方法的有效性,为进一步利用Matlab对3-RPS并联机器人轨迹跟踪控制研究提供了一定的理论基础.
In order to study the precision of the displacement trajectory tracking control of the parallel robot,the effective real-time control of the mechanism is better.The dynamic platform of the 3-RPS parallel robot-linked robot’s moving platform and each branch is studied.Using the Newton-Eulerian method,the driving force of the three-branched moving platform of the parallel robot,the restraining torque and the force of the moving platform on the three branches were analyzed,and the dynamic equation was constructed.Based on Matlab Simulation software,the hydraulic servo drive method and fuzzy control algorithm were used to construct the fuzzy control simulation model for simulation analysis.The results show that the correctness of the dynamic analysis of 3-RPS parallel robot based on Newton-Eulerian method and the effectiveness of the fuzzy control method,providing a theoretical basis for further research on the trajectory tracking control of 3-RPS parallel robot based on Matlab.
作者
严智敏
徐顺建
简辉华
YAN Zhi-min;XU Shun-jian;JIAN Hui-hua(School of Mechanical and Electrical Engineering,Xinyu University,Xinyu 338004,China)
出处
《中北大学学报（自然科学版）》
CAS
2019年第6期537-541,567,共6页
Journal of North University of China(Natural Science Edition)
