新型移动并联机器人动力学分析与控制设计

发布时间：2018-02-13 02:20

本文关键词： 并联机器人运动学分析动力学分析仿真控制设计　出处：《河南科技大学》2017年硕士论文　论文类型：学位论文

【摘要】：三自由度移动并联机器人具有结构简单、控制系统设计容易、生产成本低等优点,是少自由度并联机器人中得到研究最多的一种类型。其良好的性能和广泛的应用前景,在机器人领域备受越来越多的学者关注。论文提出一种新型三自由度完全各向同性移动并联机器人。该机器人包含一个动平台、一个静平台,以及连接两平台的三条完全相同的运动支链,每条支链分别由一个移动副、两个转动副和一个平行四边形结构组成。基于齐次坐标变换法分析了机器人的运动学问题,推导出其位置方程、速度方程和加速度方程,揭示了机构的输入运动与输出运动间呈一一对应的控制映射关系。然后分别用Matlab软件进行数值仿真分析和Pro/E软件进行虚拟样机仿真分析,并描绘出位置方程、速度方程和加速度方程的曲线。详细地讨论了新型移动并联机器人的动力学问题。以“库伦+粘性”摩擦模型为基础,推导出驱动滑块和球铰所受的摩擦力/力矩方程。然后采用拆杆法把机器人分成驱动滑块、运动支链和动平台三个部分。在考虑摩擦的情况下,利用牛顿-欧拉法分别建立了驱动滑块、分支运动链和机器人动平台的动力学模型,揭示了分支驱动力和加在动平台上的外力之间的映射关系;最后基于ADAMS软件和MATLAB编程对机器人动力学进行仿真,并绘制出驱动力、滑块所受的摩擦力和球铰所受的摩擦力矩的变化曲线。采用“上位机+运动控制卡”开放式控制系统,通过位置控制模式对新型移动并联机器人实体物理样机进行控制运动。采用固高GT400-PCI-SV四轴运动控制卡和台达交流伺服系统,以及联想计算机和机器人物理样机组建了机器人的控制系统。基于Visual C 6.0软件编写了控制系统的复位程序和运动控制程序。利用SolidWorks软件中的路径跟踪功能求解了末端执行器轨迹为圆的输入函数曲线和位置坐标,并嵌入到运动控制程序进行实体物理样机实验测试,描绘其末端执行器的轨迹,实验结果有效的验证了控制系统的有效性。论文研究为该机器人未来的实际应用提供了坚实的理论基础。
[Abstract]:Three degrees of freedom parallel mobile robot control system has the advantages of simple structure, easy design, low production cost advantages, is a type of most low DOF parallel robot. Its good performance and broad application prospects, has attracted more and more attention of scholars in the field of robotics. This paper puts forward a model of three degrees of freedom fully isotropic parallel mobile robot. The robot consists of a moving platform, a static platform, and connect the two platform three identical kinematic chains, each chain are made up of a mobile side, two rotations and a parallelogram structure. The homogeneous coordinate transformation method to analyze kinematics problem based on the robot, the position equation is derived. The velocity equation and the acceleration equation reveals the input motion and the output movement of the mechanism is to control the one-to-one mapping relationship then. Analyze the virtual prototype simulation software using Matlab numerical simulation and Pro/E software, and describes the position equation, velocity equation and acceleration equation curve. The dynamics problem of new mobile robot is discussed in detail. The "Kulun + sticky" friction model based friction / drive slider and the ball hinge deduced torque equation. Then the split bar method to drive the robot is divided into blocks, kinematic chains and moving platform of three parts. In considering the case of friction by using the Newton Euler method were established for driving sliders, branch chain and dynamic robot motion dynamics model of the platform, reveals the driving force and the dynamic branch the mapping relationship between the external force on the platform; finally, based on the ADAMS and MATLAB software simulation of the robot dynamics, and draw out the driving force, the friction force and the ball slider The change curve of the friction torque hinge by. Using the "PC + motion control card" open control system, position control mode through the control of the new mobile robot. The physical prototype Gugao GT400-PCI-SV four axis motion control card and AC servo system, and Lenovo computer and robot prototype form the robot control system. Visual C 6 software control system reset program and motion control program based on tracking function solving actuator track end input function and the position coordinates of circle using path in SolidWorks software, and embedded into the motion control program of physical prototype test, describe actuator at the end of its trajectory, the experimental results verify the effectiveness of the control system. The research for the practical application of the robot in the future A solid theoretical basis is provided.

【学位授予单位】：河南科技大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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