基于Matlab的并联机器人机构动力分析与动态仿真  

Matlab⁃based dynamic analysis and dynamic simulation of parallel robot mechanism

作　　者：乔栋[1] 谢亚龙 李博文 姚涛[2] QIAO Dong;XIE Yalong;LI Bowen;YAO Tao(Shanxi Datong University,Datong 037009,China;Hebei University of Technology,Tianjin 300401,China)

机构地区：[1]山西大同大学,山西大同037009 [2]河北工业大学,天津300401

出　　处：《现代电子技术》2021年第24期182-186,共5页Modern Electronics Technique

基　　金：国家自然科学基金项目(51775166);山西省高等学校科技创新项目(2020L0480);山西大同大学2020年研究生教育创新项目(20CX16)。

摘　　要：在当前的机器人机构动力分析方法以及相关仿真工作中,仅能对机器人的单一运动方向进行仿真,若变换方向则需重新建立模型,导致其仿真精度低、效率差。因此,文中提出基于Matlab的并联机器人机构动力分析与动态仿真。首先建立并联机器人的数学模型,以确定机器人运动机构的运动初始位置及其坐标;其次根据拉格朗日方程获得机器人的动力平台相关参数,并对其进行动力平台分析,根据获取的参数分析结果进行机器人的运动描述。最后将上述内容作为仿真基础,导入Matlab软件中,实现动态仿真。为了验证设计方法的可行性,使用该方法对某型号的并联机器人进行仿真实验。实验结果证明,设计方法可以实现对正运动和逆运动双向的动态仿真,不需要重新进行动力分析,同时仿真精度较高,具有适用性。In the current dynamic analysis methods of robot mechanisms and related simulation work,only a single motion direction of the robot can be simulated.If the direction is changed,the model needs to be re⁃established,resulting in low simulation accuracy and low efficiency.Therefore,a Matlab⁃based dynamic analysis and dynamic simulation of parallel robot mechanism is proposed.The mathematical model of the parallel robot is established,and the initial motion position and its coordinates of the robot motion mechanism have been determined.The relevant parameters of the robot′s dynamic platform are obtained according to the Lagrange equation,the dynamic platform is analyzed,and the motion of the robot is described according to the obtained parameter analysis results.The above contents are used as the simulation basis and are imported into the Matlab software to realize the dynamic simulation.In order to verify the feasibility of the design method,the design method is used to simulate a certain type of parallel robot.The experimental results prove that the design method can realize the two⁃way dynamic simulation of the forward and inverse motion without re⁃dynamic analysis,and has high simulation accuracy and applicability.

关 键 词：并联机器人 机构动力分析 动态仿真 MATLAB软件 运动坐标 机器人运动 参数分析 

分 类 号：TN876-34[电子电信—信息与通信工程] TH112[机械工程—机械设计及理论]