串并联混合五自由度运动平台研究

发布时间：2018-05-17 11:34

  本文选题：串并联混合 + 五自由度平台　； 参考：《机床与液压》2017年17期

【摘要】：基于串联机构与并联机构的不同特性以及伺服电机的优良控制特性,设计了一种串并联混合的五自由度运动平台,通过对平台并联机构的动力学分析,提出一种3-RPS并联机构正解几何算法。设计了基于C#语言的控制系统,并对系统的硬件与软件进行了介绍,控制系统可以实现平台运动范围内的精确控制,测试结果显示:平台平动定位精度优于10μm,转动定位精度优于0.01°。
[Abstract]:Based on the different characteristics of the series mechanism and the parallel mechanism and the excellent control characteristics of the servo motor, a series and parallel hybrid five-degree-of-freedom motion platform is designed. The dynamic analysis of the platform and parallel mechanism is carried out. A forward geometric algorithm for 3-RPS parallel mechanism is proposed. The control system based on C # language is designed, and the hardware and software of the system are introduced. The test results show that the accuracy of the platform is better than 10 渭 m and the precision of rotation is better than 0.01 掳.
【作者单位】： 中国计量学院浙江省流量计量技术研究重点实验室;
【分类号】：TH112
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本文编号：1901208