基于Multibody的并联柔索机器人建模与仿真  

Modeling and simulation of parallel cable robot based on Multibody

作　　者：邹宇鹏 吴祥淑 张宗源 张际平 顾学斌 李万哲 吴宝贵[1] ZOU Yupeng;WU Xiangshu;ZHANG Zongyuan;ZHANG Jiping;GU Xuebin;LI Wanzhe;WU Baogui(College of Mechanical and Electronic Engineering,China University of Petroleum(East China),Qingdao 266580,China)

机构地区：[1]中国石油大学(华东)机电工程学院,山东青岛266580

出　　处：《实验技术与管理》2022年第7期92-97,130,共7页Experimental Technology and Management

基　　金：山东省本科教学改革项目(M2020102);国家自然科学基金项目(51705534);中央高校基本科研业务费专项基金项目(18CX02085A);山东省本科教学改革研究重点资助项目(Z2021287)。

摘　　要：MATLAB/Multibody建模工具为科学研究和创新型教学提供了便捷高效的虚拟仿真平台。该文以3R3T并联柔索机器人的理论分析及建模仿真为例,首先介绍并联柔索驱动上肢康复机器人的总体结构和构型,并对3R3T并联柔索机器人进行运动学分析和轨迹规划;进一步基于Multibody建模工具构建3R3T并联柔索机器人多体动力学模型;最后联合运动学模型与Multibody虚拟样机模型进行仿真。仿真结果验证了运动学模型的准确性以及利用Multibody进行虚拟仿真的可行性。利用Multibody进行建模分析,为机构运动学、动力学等理论分析的实现提供了更便捷的平台,对虚拟仿真教学资源的建设有重要意义。The MATLAB/Multibody modeling tool provides a convenient and efficient virtual simulation platform for scientific research and innovative teaching.Taking the theoretical analysis and modeling simulation of the 3R3T parallel cable robot as an example,Firstly,this paper introduces the overall structure and configuration of the parallel cable-driven upper limb rehabilitation robot,and perform kinematics analysis and trajectory planning of the 3R3T parallel flexible cable robot.Further,the multi-body dynamic model of 3R3T parallel flexible cable robot is constructed based on the Multibody modeling tool.Finally,the kinematics model is combined with the Multibody virtual prototype model for simulation.The simulation results verify the accuracy of the kinematics model and the feasibility of virtual simulation using Multibody.The use of Multibody for modeling analysis provides a more convenient platform for the realization of theoretical analysis of mechanism kinematics and dynamics,and is of great significance to the construction of virtual simulation teaching resources.

关 键 词：MULTIBODY 3R3T并联柔索机器人 建模仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]