机构约束条件下Delta机器人工作空间建模与计算方法  

Workspace Modeling and Calculation Method of Delta Parallel Manipulator under Mechanical Constraint

作　　者：张国庆 王海涛 黄鹏 ZHANG Guoqing;WANG Haitao;HUANG Peng(College of Mechatronics and Control Engineering,Shenzhen University,Shenzhen Guangdong 518060,China;School of Mechanical and Electrical Engineering,Shenzhen Polytechnic,Shenzhen Guangdong 518055,China)

机构地区：[1]深圳大学机电与控制工程学院,广东深圳518060 [2]深圳职业技术学院机电工程学院,广东深圳518055

出　　处：《机床与液压》2019年第17期12-15,66,共5页Machine Tool & Hydraulics

基　　金：广东省自然科学基金资助项目(2017A030313295);深圳市基础研究自由探索项目(JCYJ20160422170026058;JCYJ20170818135756874);深圳市孔雀技术创新项目(KQJSCX20170727101318462);深圳大学教学改革研究项目(JG2017063);深圳大学研究生“示范性Seminar课程”

摘　　要：为了简单快捷地计算带有机构约束的Delta并联机器人的工作空间,提出一种新的Delta并联机器人工作空间的数值算法,并在算法中加入了球铰、万向节等机构约束对Delta型并联机器人工作空间的影响。首先建立Delta并联机器人工作空间计算的理论数学模型,然后建立球铰、万向节机构的角度约束数学模型,最后利用MATLAB编程求解并用离散点作图表示以及进行实验验证。利用该算法可以计算带有机构约束的Delta并联机器人的工作空间,通过对自主开发的Delta并联机器人的操作分析,验证了该方法的有效性。In order to calculate the workspace of Delta parallel manipulators under mechanical constraint fast and conveniently,a new numerical method to calculate the workspace of Delta parallel manipulators is proposed.In this method,the influence of some mechanical constraints such as ball joints,universal joints to the workspace of Delta parallel manipulator was considered.First,the theoretical mathematical model of computing the workspace of Delta parallel manipulators was derived;then the mathematical model of angular constraints of ball joints and universal joints were built;lastly,solving these models by MATLAB programming,mapping the calculation result by discrete points,and verifying the results through experiment.This calculation method can be used to calculate the workspace of Delta parallel manipulators under mechanical constraint.By operating experiment on the Delta parallel manipulator designed and manufactured independently,the validity of this method is verified.

关 键 词：DELTA机构 并联机器人 工作空间 机构约束 数值算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]