气动三自由度并联机器人设计与仿真分析  

Design and Simulation Analysis of Pneumatic 3-DOF Parallel Robot

作　　者：刘昱 彭锋 赵国新[1] 张立业 李菲 LIU Yu;PENG Feng;ZHAO Guoxin;ZHANG Liye;LI Fei(College of Information Engineering, Beijing Institute of Petrochemical Technology, Beijing 102617, China)

机构地区：[1]北京石油化工学院信息工程学院,北京102617

出　　处：《北京石油化工学院学报》2020年第1期59-64,共6页Journal of Beijing Institute of Petrochemical Technology

基　　金：国家自然科学基金(51405023);北京市属高校高水平教师队伍建设支持计划青年拔尖人才培育计划(CIT&TCD201804033)。

摘　　要：为了设计一种具有良好运动学性能的并联机器人,以基于气浮无摩擦缸驱动的3-UPU并联机器人为研究对象,对其进行运动学建模以及工作空间、动力学仿真分析。通过三维建模软件设计3-UPU并联机器人物理模型;根据机器人几何关系推导其运动学方程并基于数值解法得到该机器人的工作空间;采用遍历法求解机器人各支链旋转角度范围,从而得到该机器人在其工作空间的最大输出力分布情况。仿真结果表明,该机器人具有良好的运动学性能。In order to design a parallel robot with good kinematic performance,this paper takes 3-UPU parallel robot driven by non-friction pneumatic cylinder as the research object,and carries out kinematics modeling,workspace and dynamics simulation analysis.The physical model of 3-UPU parallel robot is designed by three-dimensional modeling software;the kinematics equation is deduced according to the geometric relationship of the robot and the workspace of the robot is obtained based on numerical method;the range of rotation angles of each branched chain of the robot is solved by ergodic method,thus obtaining the maximum output force distribution of the robot in its workspace.The simulation results show that the robot has good kinematics performance.

关 键 词：气浮无摩擦缸 3-UPU并联机器人 工作空间 仿真分析 运动学性能 

分 类 号：TH138[机械工程—机械制造及自动化]