基于包装生产线的3-PUU并联机器人的动力学研究  

Dynamics Study of 3-PUU Parallel Robot Based on Packaging Production Line

作　　者：代慧[1] 朱洪雷[2] DAI Hui;ZHU Hong-lei(Guangzhou Panyu Polytechnic,Guangzhou 511483,China;Guangzhou Institute of Technology,Guangzhou 510075,China)

机构地区：[1]广州番禺职业技术学院,广州511483 [2]广州工程技术职业学院,广州510075

出　　处：《包装工程》2021年第13期257-261,共5页Packaging Engineering

基　　金：广州工程技术职业学院校级教育教学改革项目扩招专项(YJG202005)。

摘　　要：目的为了提高机器人在包装生产线上抓取、码放包装物品时的控制精度和稳定性,需要准确地了解机器人的动力学特性,对3-PUU并联机器人的动力学特性进行研究。方法以现在常用的3-PUU型并联机器人为研究对象,介绍了其基本结构,运用达朗贝尔法对其动力学进行数学建模分析计算,然后建立机器人实体模型,导入Adams软件中进行仿真计算,并与在Matlab中编程计算得到的结果相比较。结果得到了机器人的动力学方程,仿真得到机器人驱动滑块的位移、速度、加速度曲线,与Matlab编程计算得到的结果相吻合,且曲线平滑连续,无突变。结论验证了数学模型的正确性,可以为机器人的电机选型及精确控制等提供理论基础。In order to improve the control accuracy and stability of robots when grasping and stacking the packaging items on the packaging production line,it is necessary to accurately understand the dynamic characteristics of robots.Thus,this paper studied the dynamic characteristics of the 3-PUU parallel robot.This paper introduced the basic structure of 3-PUU parallel robot,and used D'Alembert method to analyze and calculate its dynamics.Then the robot entity model was built and imported into Adams software for simulation calculation,which was compared with the results obtained by programming calculation in Matlab.The dynamic equation of the robot was obtained,and the displacement,velocity and acceleration curves of the slider driven by the robot were obtained by simulation,which were consistent with the results calculated by Matlab programming.Moreover,the curves were smooth and continuous without mutation.The correctness of the mathematical model is verified,providing a theoretical basis for the motor selection and accurate control of the robot.

关 键 词：3-PUU并联机器人 达朗贝尔法 动力学仿真分析 

分 类 号：TB486[一般工业技术—包装工程] TP246[自动化与计算机技术—检测技术与自动化装置]