三自由度柔性并联机器人运动参数检测系统开发  

Development of Kinematics Parameters Detection System for 3-dof Flexible Parallel Robot

作　　者：张学涛[1] 田阳[1] 叶威[1] 李双[1] 柴艳丽[1] 

机构地区：[1]中航工业北京长城计量测试技术研究所,北京100095

出　　处：《计测技术》2010年第3期25-28,共4页Metrology & Measurement Technology

基　　金：北京市自然科学基金资助项目(3062004)

摘　　要：以线尺传感器为采集单元,以RTLinux为开发平台,建立了平面三自由度柔性并联机器人运动参数检测系统,实现了机器人动平台运动位姿的实时获取。设计并完成了柔性系统下的高速、高加速轨迹实验,通过实验结果与仿真结果的对比,表明该检测系统实时性强,可靠性高,可以为平面三自由度柔性并联机器人全闭环实时控制提供支持。The kinematics parameters detection system for planar 3-dof flexible parallel robot is built using linear wire encoder as acquiring unit and as RTLinux development platform.It has been realized to get the kinetic position of moving platform real-timely.The high-speed and high-acceleration trajectory experiments on the flexible system are designed and made.The experiment and simulation results show that the detection system has good real-time characteristic and reliability.It can support the closed-loop and real-time control of planar 3-dof flexible parallel robot.

关 键 词：柔性并联机器人 线尺传感器 运动参数检测系统 实时 

分 类 号：TP242.061[自动化与计算机技术—检测技术与自动化装置] TH112[自动化与计算机技术—控制科学与工程]