面向并联机器人研发的数字化平台软件系统  

Digital Platform Software System for Parallel Robot Research

作　　者：曹杨 杨建涛 石萍[1] 何勇 喻洪流[1] CAO Yang;YANG Jiantao;SHI Ping;HE Yong;YU Hongliu(Institute of Rehabilitation Engineering and Technology,University of Shanghai for Science and Technology,Shanghai 200093,China;Guangdong Provincial Key Lab of Robotics and Intelligent System,Shenzhen Institute of Advanced Technology,Chinese Academy of Sciences,Shenzhen Guangdong 518055,China;Shenzhen College of Advanced Technology,University of Chinese Academy of Sciences,Shenzhen Guangdong 518055,China)

机构地区：[1]上海理工大学康复工程与技术研究所,上海210093 [2]广东省机器人与智能系统重点实验室,广东深圳518055 [3]中国科学院大学深圳先进技术学院,广东深圳518055

出　　处：《机械设计与研究》2022年第4期26-31,共6页Machine Design And Research

基　　金：国家自然科学基金(Grant Nos.62103280);国家重点研发计划(2019YFC1711800)资助项目。

摘　　要：机器人设备的研发需要多学科耦合分析及交叉设计,现有工业软件无法从整机系统的高度指导产品研发过程,这必然会造成研发的多行为矛盾。因此,集成多领域、多学科的数字化设计、仿真、分析平台亟待突破。以并联机器人为例,建立并联机器人研发的数字化软件系统,称之为PMDB(Parallel Manipulator Digital Board)软件。软件通过用户导入的需求可完成自动化快速几何建模,基于螺旋理论建立并联机器人运动学及动力学模型,对几何模型进行仿真分析,通过机器人全域性能指标进行参数优化,完成自上而下的闭环迭代设计。在整个过程中工程师和计算机时刻进行着人机交互,其中PMDB起着导航的作用,而工程师是最终决策者。最后通过精密定位平台研发实例验证PMDB软件的有效性。The research and development(R&D)of robotic devices require the coupling analysis and cross-design among multiple disciplinaries.However,the inability of the existing industrial software to guide the R&D process from a systematic perspective will inevitably lead to multi-behavior contradictions.Therefore,there is an urgent need to develop a digital R&D platform which integrates the multi-sector and multi-disciplinary analysis.This paper takes the parallel robot as an example,and establishes a R&D digital board for a parallel manipulator(PMDB).Automatic and rapid geometric modeling can be achieved using the PMDB software when importing requirements files.The kinematics and dynamics models of the parallel robots are established based on screw theory.The global performance of the robot under the current configuration and parameters can be learned by simulation using the PMDB.Parameters should be optimized by the designed performance indicators.Then,the top-down closed-loop iterative design is completed.Throughout the R&D process,the engineer and the computer are interacting with each other.Specifically,PMDB plays the role of navigation,and the engineer is the ultimate decision maker.Finally,the effectiveness of the PMDB software is verified through a R&D example.

关 键 词：TP交互数字平台 软件系统 设备研发 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]