5-DOF并串联机器人运动学分析及仿真

doi:10.16180/j.cnki.issn1007-7820.2019.12.008

摘要/Abstract

摘要：

并联机器人强度刚度较高,但是工作空间较小;串联机器人工作空间较大,但强度刚度较小。混联机构因兼顾了并联和串联机构的优点而具有更加广泛的应用前景。文中介绍了一种新型五自由度并串联机器人来实现复杂曲面的加工。应用螺旋理论对其运动性质进行分析并计算了自由度。通过数值法推导了机器人的正解,运用解析法推导了机器人的反解。用SolidWorks构建了机器人的三维模型并导入到ADAMS中对其进行运动学仿真。仿真结果显示,该机器人能够实现复杂曲面的加工,可以为工业生产提供帮助。

关键词: 5自由度并串联机器人, 螺旋理论, SolidWorks, ADAMS, 仿真, 正反解

Abstract:

Parallel robots have higher strength stiffness, but the working space is smaller; tandem robots have larger working space, but the strength stiffness is smaller. With the advantages of both parallel mechanisms and serial mechanisms, the serial-parallel mechanism has more extensive application prospects. In this paper, a novel 5-DOF serial-parallel robot was introduced to realize the machining of complex curved surface. The structure characteristics and motion properties were analyzed and the degree of freedom was calculated by screw theory. The forward and inverse kinematic solution of robot were deduced by numerical and analytical method respectively. The 3D model of the robot was built with SolidWorks and imported into ADAMS for kinematics simulation. The results showed that the robot could realize the processing of complex surface, and could provide help for industrial production.

Key words: 5-DOF serial-parallel robot, screw theory, SolidWorks, ADAMS, simulation, direct and inverse solutions

中图分类号:

TP242.3

陈久朋,伞红军,李鹏飞,张道义,熊彬州. 5-DOF并串联机器人运动学分析及仿真[J]. 电子科技, 2019, 32(12): 37-43.

CHEN Jiupeng,SAN Hongjun,LI Pengfei,ZHANG Daoyi,XIONG Binzhou. Kinematics Analysis and Simulation for a Novel 5-DOF Serial-Parallel Robot[J]. Electronic Science and Technology, 2019, 32(12): 37-43.

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