基于虚拟样机的DELTA并联机械手动力学仿真和伺服选型  

Kinematic Simulation and Serve Motor Selection to DELTA Parallel Manipulator Based on Virtual Prototype

作　　者：郎需林[1] 徐凯[1] 张岳[1] 张承瑞[1] 

机构地区：[1]山东大学机械工程学院,山东济南250061

出　　处：《机床与液压》2012年第21期154-156,共3页Machine Tool & Hydraulics

摘　　要：通过编程逆解DELTA机械手最大运动空间轨迹;采用虚拟样机技术,利用ProE/Mechanism和ADAMS软件对DELTA并联机械手进行动力学仿真,对比验证机构仿真结果,得出驱动轴运动参数;在此基础上,提出一种伺服电机精确选型的新方法。所建立的虚拟样机模型也为DELTA机械手的研究提供了一个运动学分析和控制的平台。Based on the maximum workspace path through programming inverse of DELTA manipulator, using virtual prototype technology, the kinematic simulation of DELTA parallel manipulator was realized by the software of ProE/Mechanism and ADAMS. The results of mechanism simulation were campared and the kinematic parameters of driving axle were obtained. On this basis, a new method of serve motor accurate selection was put forward. The established virtual prototype also provides a kinematic analysis and control platform for the research of DELTA parallel manipulator.

关 键 词：DELTA并联机械手 虚拟样机 动力学仿真 伺服选型 运动平台 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]