摘要
为提高机器人在高速运动过程中的精度和稳定性,研究了4-DOF的Delta高速并联机器人动力学方程的建模方法。采用几何法求解机器人逆运动学方程,结合旋量理论的Kane方法建立了机器人的动力学方程。采用Matlab编程对运动学和动力学模型进行求解,绘制了各个驱动臂的位移、速度、加速度以及力矩曲线。在Simscape中建立Delta机器人的动力学控制系统,以力矩为输入,得到驱动臂位移曲线。对比计算和仿真结果,验证了动力学方程的正确性。
In order to improve the accuracy and stability of the robot in the process of high-speed motion,the method of modeling the dynamic equation of the 4-DOF Delta high-speed parallel robot is studied.The geometrical method is used to solve the inverse kinematics equation of the robot,and the Kane method of screw theory is combined to establish the dynamic equation of the robot.Matlab programming is used to solve the kinematics and dynamics models,and the displacement,velocity,acceleration and torque curves of the driving arm are drawn.The dynamics control system of the Delta robot is established in Simscape,and the displacement curve of the driving arm is obtained with torque as input.Comparing the calculation and simulation results,the correctness of the dynamic equation is verified.
作者
吴璞
王宗彦
何晓
景鸿翔
夏长林
Wu Pu;Wang Zongyan;He Xiao;Jing Hongxiang;Xia Changlin(School of Mechanical Engineering,North University of China,Taiyuan 030051,China;Department of Mechanical Engineering,Taiyuan Institute of Technology,Taiyuan 030008,China;Taiyuan Vehicle Depot,Daqin Railway Co.,Ltd.,Taiyuan 030045,China)
出处
《机械传动》
北大核心
2021年第5期101-106,132,共7页
Journal of Mechanical Transmission
基金
山西省国际合作重点研发项目(201903D421015)
太原工业学院院级重点科学基金(2020LG01)。
