Delta并联机械手的机构特性与刚柔耦合分析

发布时间：2018-05-27 04:31

本文选题：Delta并联机械手 + 机构特性　；参考：《西安理工大学》2017年硕士论文

【摘要】：随着工业自动化水平的发展,工业机械手得到了越来越广泛的应用。Delta并联机械手被公认为是设计和应用最为成功的并联机械手之一。该机械手构型简单,具有结构刚度大、负载能力强和定位精度高等诸多优点。本文以三自由度Delta并联机械手为研究对象,针对其机构特性与刚柔耦合进行分析与研究,进而为该机械手的实际工程应用提供参考性的意见。论文的主要内容如下:首先,对Delta并联机械手进行了适当的简化,使用解析法得到了机械手的运动学正解和逆解,在此基础上推导出了机械手的雅可比矩阵和速度加速度模型,并进一步分析和讨论了机械手可能存在的奇异位型;在运动学正解的基础上分析了机械手的可达工作空间,并验证了上述分析的正确性;其次,对Delta并联机械手的轨迹规划进行了分析,对比了三种加速度规律的优缺点,最后基于修正梯形规律对机械手进行了轨迹规划。使用ADAMS和Matlab对轨迹规划进行了仿真,结果表明,在采用修正梯形规律对机械手进行轨迹规划时,机械手运行平稳,可以满足使用要求;然后,使用虚功原理建立了Delta并联机械手的刚体逆动力学模型,借助有限元分析软件对机械手的静动态特性进行了分析,找到了影响机械手工作性能的薄弱环节,为接下来的工作指明了方向;最后,使用ADAMS和ANSYS建立了Delta并联机械手的刚柔耦合虚拟样机模型。针对机械手常见的“门”字形运动轨迹,对比分析了机械手在刚体模型和刚柔耦合模型时,驱动电机的动力学特性和动平台的定位精度。在特定的工作空间要求下,针对机械手从动臂的尺寸参数进行优化分析,在经济型设计思想的指导下,得到了机械手从动臂最优的尺寸参数,为该机械手的实际工程应用提供了参考性意见。
[Abstract]:With the development of industrial automation, industrial manipulator has been widely used. Delta parallel manipulator is recognized as one of the most successful parallel manipulators in design and application. The manipulator has many advantages, such as simple configuration, high stiffness, high load capacity and high positioning precision. In this paper, the three-degree-of-freedom Delta parallel manipulator is taken as the research object, and the mechanism characteristics and rigid-flexible coupling are analyzed and studied, thus providing reference for the practical engineering application of the manipulator. The main contents of this paper are as follows: firstly, the Delta parallel manipulator is simplified properly, and the forward and inverse kinematics solutions of the manipulator are obtained by using the analytical method. On this basis, the Jacobian matrix and the velocity acceleration model of the manipulator are derived. Furthermore, the possible singular positions of manipulator are analyzed and discussed, and the reachable workspace of manipulator is analyzed on the basis of forward kinematics solution, and the correctness of the above analysis is verified. The trajectory planning of Delta parallel manipulator is analyzed, and the advantages and disadvantages of three kinds of acceleration laws are compared. Finally, the trajectory planning of the manipulator is carried out based on the modified trapezoid rule. ADAMS and Matlab are used to simulate the trajectory planning of manipulator. The results show that the manipulator runs smoothly and can meet the requirements when using the modified trapezoid law to plan the trajectory of manipulator. The rigid body inverse dynamics model of Delta parallel manipulator is established by using the virtual work principle. The static and dynamic characteristics of the manipulator are analyzed with the help of finite element analysis software, and the weak links that affect the performance of the manipulator are found. Finally, the rigid-flexible coupling virtual prototype model of Delta parallel manipulator is established by using ADAMS and ANSYS. In view of the common "door" movement trajectory of manipulator, the dynamic characteristics of driving motor and the positioning accuracy of moving platform are compared and analyzed in rigid body model and rigid-flexible coupling model of manipulator. Under the specific workspace requirements, the dimension parameters of the manipulator follower are optimized and analyzed. Under the guidance of the economic design idea, the optimal dimension parameters of the manipulator follower are obtained. It provides a reference for the practical engineering application of the manipulator.
【学位授予单位】：西安理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP241

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