摘要
针对"三自由度并联机器人的运动空间比传统六自由度并联机器人受到更多约束,以及其运动特性也更加复杂"的问题,将可视化运动仿真分析技术应用到并联机器人的研究上。以三自由度Delta并联机器人为例,在复杂轨迹下其整体位姿难以直观想象;为了便捷、高效地实现Delta并联机器人可视化运动仿真分析,结合SimMechanics Link接口软件,以Pro/E与Simulink/SimMechanics为仿真开发平台,提出了采用三维模型转换成SimMechanics模型的建模方法,并建立了SimMechanics模型,进行了仿真。研究结果表明,该方法能够直观地对Delta并联机器人进行可视化运动仿真分析,进而可为并联机器人机构的选型及优化、控制器的设计提供参考依据。
Aiming at the problem that the motion of 3DOF parallel robot bears more constrains, compared to the traditional 6DOF parallel robot, the technology of visual kinematics simulation was investigated on 3DOF parallel robot. Taking 3DOF Delta parallel robot for example, it is hard to image its motion gesture directly, when it traces a complex track. In order to conveniently and rapidly achieve visual kinematics simulation of Delta parallel robot, combining with SimMechanics link, the method of modeling which translates CAD assemblies into SimMechanics model based on Pro/E and Simulink/SimMechanics was presented, the modeling of SimMechauics was established, and simulation of it was done. The experimental results show that it can directly get the kinetic characteristic of the Delta parallel robot and provide the reference parameters of the design.
出处
《机电工程》
CAS
2012年第8期982-984,992,共4页
Journal of Mechanical & Electrical Engineering
