基于ADAMS的4-RUPaR高速搬运并联机器人轨迹规划与运动学仿真  

Trajectory planning and kinematics simulation of the 4-RUPaR high-speed handling parallel robot based on ADAMS

作　　者：杨尹[1] 顾寄南[1] 郭林[1] 

机构地区：[1]江苏大学制造业信息化研究中心,江苏镇江212013

出　　处：《工程设计学报》2013年第5期375-382,共8页Chinese Journal of Engineering Design

基　　金：机器人学国家重点实验室开放课题资助项目(RLO201006);苏州市应用基础研究计划资助项目(SYG201129)

摘　　要：由于并联机构的复杂性,通过理论计算分析机器人实际规划轨迹下的运动学性能是十分困难的.为了预测4-RUPaR高速搬运并联机器人机构在搬运轨迹下的运动学性能,在ADAMS中建立了并联机构的虚拟样机,对机构进行拾取放置轨迹规划和在规划轨迹下的正逆运动学仿真.通过分析仿真结果,预测机构在规划轨迹下的运动学性能指标,为机构优化设计、控制策略研究、规划轨迹优化和物理样机制造提供参考.仿真结果表明,规划轨迹设计合理,机构运动学性能良好.Due to the complexity of the parallel mechanism, predicting the kinematic performance of the robot under actual planning trajectory by theoretical calculations is very difficult. In order to forecast kinematic performance of the 4-RUPaR high-speed handling parallel robot under actual handling trajectory, virtual prototype of the parallel mechanism was built in ADAMS. Then pick- place trajectory planning and forward inverse kinematic simulation were made. By analysis of the simulation results, we forecasted kinematic performance indicators of the mechanism under actual handling operation er^vironment which provided a reference and basis for mechanism optimal design, control strategy study, planning trajectory optimization and physical prototyping. The results show that the planning trajectory is reasonable and the kinematics performance of the mechanism is good.

关 键 词：高速并联机器人 运动学 轨迹规划 虚拟样机 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]