TriMule机器人并联机构运动学分析与仿真  

Kinematic Analysis and Simulation of TriMule Robot Parallel Mechanism

作　　者：江小辉[1] 孙翼飞 郭维诚 侯春杰 JIANG Xiaohui;SUN Yifei;GUO Weicheng;HOU Chunjie(University of Shanghai for Science and Technology,School of Mechanical Engineering,Shanghai 200093,China;Shanghai Aerospace Equipment Manufacturer Co.,Ltd.,Shanghai 200240,China)

机构地区：[1]上海理工大学机械工程学院,上海200093 [2]上海航天设备制造总厂有限公司,上海200240

出　　处：《机械科学与技术》2024年第10期1664-1671,共8页Mechanical Science and Technology for Aerospace Engineering

基　　金：上海市科学技术委员会项目(2051105704)。

摘　　要：针对并联机构运动学模型求解困难的问题,以TriMule并联机构为研究对象对其正向运动学与逆向运动学进行了分析与仿真,并通过样机平台的加工工艺参数评价了运动学算法的正确性与稳定性。根据TriMule机器人机构特点,基于矢量法与连杆长度差迭代法建立机器人并联机构的运动学逆解及正解模型,推导机器人驱动支链长度与动定平台位姿关系;在机器人运动空间中选取样本位姿,应用MATLAB对所建立TriMule机器人并联机构运动学模型进行仿真验证,结果表明运动学模型求解算法正确稳定。最后搭建TriMule机器人搅拌摩擦焊实验平台验证运动学算法控制稳定性。Aiming at the difficulty of solving the kinematics model of parallel mechanism,the forward kinematics and inverse kinematics of TriMule parallel mechanism are analyzed and simulated,and the correctness and stability of the kinematics algorithm are evaluated through the processing parameters of the prototype platform.According to the characteristics of TriMule robot mechanism,the inverse and forward kinematics models of the robot parallel mechanism were established based on vector method and iterative method of the length difference of connecting rod respectively,and the relationship between the length of the robot driving branch chain and the position and pose of the moving-fixed platform was deduced.Sampling orientation was selected in the robot motion space,and the kinematic models of TriMule robot parallel mechanism were simulated and verified by MATLAB.The results show that the algorithm is correct and stable.Finally,a TriMule robot friction stir welding experimental platform was built to verify the control stability of the kinematic algorithm.

关 键 词：TriMule机器人 运动学正解 运动学逆解 仿真验证 

分 类 号：TG156[金属学及工艺—热处理]