基于3-RRR球面并联机器人的空间定位问题研究  

A Study on Spatial Positioning of 3-RRR Spherical Parallel Robot

作　　者：王丽[1] Wang Li(School of Mechanical Engineering,Shaanxi Polytechnic Institute,Xianyang Shaanxi,712000 China)

机构地区：[1]陕西工业职业技术学院机械工程学院,陕西咸阳712000

出　　处：《陕西工业职业技术学院学报》2020年第3期15-19,共5页Journal of Shaanxi Polytechnic Institute

摘　　要：本文利用四元数表示刚体的有限转动,得到刚体的有限转动方程。在球面3-RRR并联机器人基础上增加角位移传感器支架,检测动平台的姿态角,并转化为四元数形式的定位偏差,从而将机器人应用于空间定位问题的执行机构。以系统具有大范围渐近稳定的动态品质为目标,得到动平台角速度应该满足的条件,建立动平台在定位过程中四元数分量形式的运动微分方程。实例给出了机器人在定位过程中的偏差四元数的解轨迹和动平台姿态的变化历程,求得了施加于主动构件上的控制律,从仿真结果来看,控制效果较好。In this research,the quaternion was used as the finite rotation of a rigid body and the finite rotation equation was obtained.On the basis of spherical 3-RRR parallel robot,an angular displacement sensor bracket was added to detect the attitude angle of the moving platform,which was converted into quaternion positioning error,and thusthe robot was applied to the actuator of spatial positioning problem.Aiming at the dynamic quality of the system which was asymptotically stable in a wide range,a motion differential equation of the moving platform in the form of quaternion component was establishedto obtain the conditionsfor the angular velocity of the moving platform.Astimulationexperiment showed the solution trajectory of deviation quaternion and the changing process of the attitude of the moving platform in the process of robot positioning andthe control law applied to the active component has been obtained.The simulation results showed the control effect is better.

关 键 词：球面并联机器人 四元数 运动微分方程 定位问题 

分 类 号：TH112[机械工程—机械设计及理论]