一种三自由度冗余驱动并联机器人控制研究  

A Research of Three-Degree-Of-Freedom Redundant Drive Parallel Robot Control

作　　者：刘保朝[1] 白帅丽 陈能祥 Liu Baochao;Bai Shuaili;Chen Nengxiang(School of Aeronautical Engineering,Shaanxi Polytechnic Institute,Xianyang Shaanxi 712000,China;Shenzhen Reinovo Technology CO.,Ltd,Shenzhen Guangdong 518055,China)

机构地区：[1]陕西工业职业技术学院航空工程学院,陕西咸阳712000 [2]深圳市元创兴科技有限公司,广东深圳518055

出　　处：《陕西工业职业技术学院学报》2019年第4期9-14,共6页Journal of Shaanxi Polytechnic Institute

摘　　要：并联机器人一般由多条运动轴组成,具有响应快、刚性好、精度高等优点,但是由于其机械结构的复杂性导致其也存在着明显缺点,如各支链之间存在相互耦合使得工作区域内存在奇异位形,加入冗余度可以消除奇异位形从而改善它的几何特性,冗余并联机器人作为一种新型的机器人形式得到了越来越多的重视,基于三自由度冗余驱动并联机器人提出一种控制研究方法,主要从冗余并联机器人的运动学模型、工作空间、MATLAB仿真及其控制软件开发等主要方面进行了深入细致的研究。Parallel robot,which usually consists of multiple axes,is fast,rigid and precise.However,due to the complexity of its mechanical structure,it also has obvious disadvantages.For example,there is mutual coupling between the branches,which makes the singularity in the working area.The singularity can he eliminated by adding redundancy and its geometric characteristics can be improved.Much attention has been paid to redundant parallel robot as a new type of robot.This paper presents a control research method of Three-Degree-Of-Freedom(3-DOF)redundant drive parallel robot,which mainly studies the kinematics model,workspace,MATLAB and control software development of redundant parallel robot.

关 键 词：冗余驱动 并联机器人 运动学模型 MATLAB仿真 控制软件 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]