基于Simulink/SimMechanics的三自由度并联机器人控制系统仿真  

Simulation of Control System for 3D of Parallel Robot based on Simulink/SimMechanics

作　　者：胡峰[1] 骆德渊[1] 雷霆[1] 柯辉[2] 

机构地区：[1]电子科技大学机械电子工程学院,四川成都611731 [2]黄石供电公司,湖北黄石435000

出　　处：《自动化与仪器仪表》2012年第5期221-223,共3页Automation & Instrumentation

基　　金：电子科技大学学生机器人研究基金资助

摘　　要：针对并联机器人控制系统比传统串联机器人更加复杂的问题,将虚拟仿真技术应用到并联机器人控制策略的研究上。以三自由度Delta并联机器人为例,为便捷高效实现其控制系统仿真,利用Simulink为仿真平台,结合SimMechanics Link接口软件,提出了三维Pro/E模型转换成SimMechanics模型的建模方法建立机械系统模型,并设计P I D控制器模型进行仿真分析。结果表明,该方法为并联机器人控制策略的研究提供了高效的仿真平台,便于展开针对并联机器人特点的各种控制策略的研究。Aiming at the problem that the control system of parallel robot is more complicated, compared to the traditional series robot, the technology of virtual simulation was investigated on the control strategy of parallel robot. Taking 3DOF Delta Parallel Robot for example, in order to conveniently and rapidly achieve the control system simulation, using Simulink for simulation platform and combining with SimMechanics Link, the method of modeling which translates CAD assemblies of Pro/E into SimMechanics model was presented, after that the PID controller model was designed. The experimental results show that it can provide the efficient and significant simulation platform to research the control strategy of parallel robot.

关 键 词：并联机器人 控制系统Simulink SIMMECHANICS 仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]