Delta并联机器人关节轨迹规划与联合仿真  

Joint Trajectory Planning and Co-simulation for Delta Parallel Robots

作　　者：陶亮[1] 吕光欣 汪明[1] 宋圆圆 郑学汉[1] 高鹤[1,2] TAO Liang;L Guangxin;WANG Ming;SONG Yuanyuan;ZHENG Xuehan;GAO He(School of Information and Electrical Engineering,Shandong Jianzhu University,Jinan 250101,China;Shandong Zhengchen Technology Co.,Ltd.,Jinan 250101,China)

机构地区：[1]山东建筑大学信息与电气工程学院,济南250101 [2]山东正晨科技股份有限公司,济南250101

出　　处：《计算机测量与控制》2025年第4期178-185,共8页Computer Measurement &Control

基　　金：国家自然科学基金(62073196)。

摘　　要：并联机器人中存在刚性和柔性部分,且多个执行器同时运动,其建模与控制一直是难点;针对其建模与运动控制的难题,提出了一种优化加速度曲线用于并联机器人关节空间内的轨迹规划,优化搭建了并联机器人的联合仿真平台并进行实验验证;利用几何法对并联机器人进行运动学分析,推导设备在不同姿态时各关节点的坐标,得到其正、逆运动学模型与求解公式,在此基础上,优化加速度曲线以用于关节空间内的轨迹规划,实现对机构末端的运动控制;借助Solidworks、Adams软件建立其刚柔耦合的三维模型,结合Matlab软件优化搭建并联机器人的联合仿真平台;在联合仿真平台和Delta并联机器人上进行了门型轨迹拾取实验,仿真和实验结果验证了所提出方法的有效性。Parallel robots have the characteristics of rigidity and flexibility,with multiple actuators moving simultaneously.Its modeling and control are always a challenge;To address this problem,an optimized acceleration curve is proposed for trajectory planning in the joint space of the parallel robot,and a joint simulation platform for the parallel robot is optimized,built and verified by experiments;The geometrical method is used to analyze the movement of the parallel robot,derive the coordinates of each joint of the equipment in different attitudes,and obtain the forward and inverse kinematic models and solution formulas.On this basis,the acceleration curve is optimized for trajectory planning in the joint space to realize the motion control of the end of the mechanism;the rigid-flexible coupling three-dimensional model is established with the help of Solidworks and Adams software,and the co-simulation platform for the parallel robot is optimized and built by combining with Matlab software.The experiments of gate trajectory picking are carried out on the co-simulation platform and Delta parallel robot,and simulation and experimental results verify the effectiveness of the proposed method.

关 键 词：并联机器人 运动学建模 几何法 轨迹规划 联合仿真 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]