并联机械手实验装置研制  

Development of experimental device for parallel manipulator

作　　者：蒋勇[1] JIANG Yong

机构地区：[1]南京理工大学泰州科技学院,江苏泰州225300

出　　处：《现代机械》2019年第2期22-27,共6页Modern Machinery

摘　　要：研制了一种并联机械手装置,并对两台并联机械手对击小球的过程进行了研究。分析了该机械手的运动学问题,推导出其位置方程、速度方程。对机械手的运动和小球的运动建立了数学模型,并对机械手的位置、速度、角速度和运动轨迹进行仿真和试验。试验表明,该装置性能稳定、运动过程安全可靠,满足相关科研和教学使用要求。A parallel manipulator device is developed,and the process of two parallel manipulators hitting the ball is studied.The kinematics of the manipulator is analyzed,and its position equation and velocity equation are deduced.The mathematical models of the motion of manipulator and ball are established,and the position,velocity,angular velocity and trajectory of the manipulator are simulated and tested.The experimental show results that the device can run safely and reliably to meet the requirements of relevant scientific research and teaching.

关 键 词：并联机械手 运动学 仿真模型 优化 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]