3-UPS/UR并联机构运动学与控制分析  

Kinematics and Control Analysis of 3-UPS/UR Parallel Mechanisms

作　　者：郭忠峰[1] 赵启航 Guo Zhongfeng;Zhao Qihang

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870

出　　处：《一重技术》2022年第2期21-25,共5页CFHI Technology

基　　金：辽宁省教育厅项目(LJK20114)。

摘　　要：以3-UPS/UR并联机构为研究对象,首先建立并联机构的三维模型,然后建立并联机构的杆长约束方程,通过Matlab软件对机构杆长的变化进行分析;将三维模型导入ADAMS中,对机构的运动学正解进行仿真,得到相关运动曲线;建立并联机构杆长部分的传递函数,采用PID控制方法进行控制,在SIMULINK中进行控制仿真。通过分析证明并联机构运动平稳,为后续控制部分优化提供理论依据。A 3-D model and rod length constraint equation are established for research of 3-UPS/UR parallel mechanism.The rod length variation is analyzed by means of the software Matlab.The 3-D model is put into the software ADAMS to simulate the positive kinematic solution of the mechanism and obtain the relevant motion curves.With the established transfer functions of the rod length,the mechanism under PID control is simulated with SIMULINK.The analysis result proves the parallel mechanism can make stable movement,which provides theoretical basis for subsequent control optimization.

关 键 词：并联机构 少自由度 运动学 ADAMS仿真 控制系统 

分 类 号：TH112[机械工程—机械设计及理论]