三自由度解耦并联机器人设计与轨迹规划  

Design and Trajectory Planning of 3-DOF Decoupling Parallel Robot

作　　者：顾寄南[1] 刘守 GU Ji-nan;LIU Shou(School of Mechanical Engineering,Jiangsu University,Jiangsu Zhenjiang212013,China)

机构地区：[1]江苏大学机械工程学院

出　　处：《机械设计与制造》2019年第11期224-227,共4页Machinery Design & Manufacture

基　　金：江苏省科技成果转化专项招标项目(BA2015026)

摘　　要：由于传统的并联机器人具有高耦合性和难以控制的缺点,所以要研究并联机构的解耦性,而只有结构解耦才是真正的运动解耦,研究了一种三移动自由度解耦并联机器人。首先根据平移运动解耦构型方法设计三移动自由度并联解耦机构,用Pro/E建立三维建模,并进行机构分析,验证解耦特性;然后将三维模型导入Adams中,并简化动力学模型,建立并联机构的虚拟样机;最后采用5次多项式插值函数对机构进行轨迹规划和运动学仿真。结果表明,设计的并联机构是解耦的,轨迹规划方案合理,机构运动学性能良好,对轻型产品的高速搬运有很高的应用价值。The traditional parallel robot has the disadvantage of high coupling and difficult to control,So it is necessary to study the decoupling of parallel mechanism,Only structural decoupling is the true decoupling of motion,In this paper,a three moving DOF decoupling parallel robot is studied.Firstly,three moving freedom parallel decoupling mechanism is designed according to the translational moving decoupling method.Building 3D modeling with Pro/E,And analysing mechanism to verify decoupling characteristics;Then,Importing the 3D model into Adams,And simplifying the dynamics model to establish a virtual prototype of a parallel mechanism;Finally,the trajectory planning and kinematics simulation of the mechanism are carried out by using the fifth order polynomial interpolation function.The results show that the design of parallel mechanism is decoupled,the trajectory planning scheme is reasonable,the kinematic performance of the mechanism is good,and It is of high application value for light goods transportation at high speed.

关 键 词：解耦 并联机器人 ADAMS 轨迹规划 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]