5-DOF混联雕刻机速度运动学分析及仿真

doi:10.16180/j.cnki.issn1007-7820.2020.04.008

摘要/Abstract

摘要：

五自由度混联机器人因为兼有串联机器人和并联机器人的优点而成为重要的研究方向。在对五自由度并串联雕刻机控制的过程中,求解其输入与末端位置之间的速度及加速度的传递是研究的重点和难点。文中先通过机构拓扑理论对雕刻机的自由度进行分析,再运用矢量法对雕刻机末端运动学进行正向分析,然后采用求导法对雕刻机滑块运动学进行逆向分析,最终通过MATLAB和ADAMS仿真分析验证了雕刻机速度运动学分析的合理性以及算法的有效性。该结果为五自由度混联机器人的实际控制编程提供了参考。

关键词: 混联机器人, 机构拓扑学, 矢量法, 求导法, 速度, 加速度, MATLAB, ADAMS

Abstract:

5-DOF hybrid robot has become an important research direction because of its advantages of both serial and parallel robots. In the process of controlling the 5 degrees of freedom and the series engraving machine, solving the transmission of velocity and acceleration between the input and the end position is the key point and difficulty of the research. In this paper, the degree of freedom of the carving machine was analyzed by the mechanism topology theory. Then the kinematics of the end of the carving machine was inversely analyzed by the vector method. The kinematics of the slider of the carving machine was analyzed by the derivation method. Finally, the validity of the speed kinematics analysis and the effectiveness of the algorithm were verified through MATLAB and ADAMS simulation analysis. This result provided a reference for the actual control programming of the 5-DOF hybrid robot.

Key words: hybrid robot, mechanism topology, vector method, derivative method, velocities, accelerations, MATLAB, ADAMS

中图分类号:

TP242.3

张道义,伞红军,陈久朋,李鹏飞,熊彬州. 5-DOF混联雕刻机速度运动学分析及仿真[J]. 电子科技, 2020, 33(4): 42-49.

ZHANG Daoyi,SAN Hongjun,CHEN Jiupeng,LI Pengfei,XIONG Binzhou. Velocity Kinematics Analysis and Simulation of 5-DOF Hybrid Engraving Machine[J]. Electronic Science and Technology, 2020, 33(4): 42-49.

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