摘要
随着工业的发展,并联机器人在现代工业加工中有着无可替代的表现。本文以含动平台的2PUU-2P(SS)2的四自由度高速并联机器人机构为研究对象,用SolidWorks软件完成对并联机器人机构的机械结构设计和建模,对其进行运动学建模和位置逆解模型分析,并通过算例对逆解模型进行验证,利用有限元软件ANSYS完成在典型位型下四自由度并联机器人机构的模态分析,最后利用数值分析和逆解模型对机构的工作空间求解,同时利用MATLAB编程得到机构可达工作空间,为后续的设计参数优化提供了参考。
With the development of industry, parallel robot has irreplaceable performance in modern indus-trial processing. A 2PUU-2P(SS)2 4-DOF high-speed parallel manipulator with moving platform was studied, Using Solid Works software to complete the mechanical structure design and modeling of parallel robot mechanism, The kinematics model and the position inverse solution model are analyzed, and the inverse solution model is verified by an example,the modal analysis of the 4-DOF parallel robot mechanism in typical configuration is completed by using the finite element software ANSYS. Finally, the workspace of the mechanism is solved by numerical analysis and inverse model, and the reachable workspace of the mechanism is obtained by MATLAB programming. It provides a reference for the subsequent design parameter optimization.
出处
《机械工程与技术》
2021年第4期460-468,共9页
Mechanical Engineering and Technology
