Delta平面并联机器人运动仿真分析  

Motion Simulation Analysis of Delta Planar Parallel Robot

作　　者：张源 ZHANG Yuan(Zaozhuang Vocational College,Zaozhuang 277800)

机构地区：[1]枣庄职业学院,枣庄277800

出　　处：《现代制造技术与装备》2022年第4期21-24,共4页Modern Manufacturing Technology and Equipment

摘　　要：Delta并联机器人具有结构简单、承载能力强以及动力性能好等优点,广泛应用于食品、饮料、医药、电子及日化等行业。选取3RRR型平面并联机器人作为研究对象,利用Creo构建并联机器人的三维实体模型。在Creo中,对3RRR平面并联机器人总装配模型进行全局干涉检查,利用Creo的MECHANISM模块进行运动学分析。通过比较发现,更改参数后,主动杆角位移、角速度和角加速度变化曲线更加趋于平缓,波动较小。这样不仅可以减少内部的冲击载荷,而且便于控制,为结构的参数优化提供了一种新途径。Delta parallel robot has the advantages of simple structure, strong bearing capacity and good dynamic performance.It is widely used in food, beverage, medicine, electronics, daily chemical and other industries. In this paper, the 3RRR planar parallel robot is selected as the research object, and the three-dimensional solid model of the parallel robot is built through Creo. In Creo, the overall assembly model of 3RRR planar parallel robot is checked for global interference, and the kinematics is analyzed under the mechanism module of Creo. After changing the parameters, the change curves of angular displacement,angular velocity and angular acceleration of the driving rod can be found to be more gentle and the fluctuation is not great. This can not only reduce the internal impact load, but also facilitate control. It provides a way and reference for structural parameter optimization.

关 键 词：并联机器人 干涉检验 运动仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]