摘要
以三自由度Delta并联机械手作为研究对象,在Simulink环境下建立基于虚功原理法得到的并联机构系统动力学求解模型,并在Simmechanics中建立系统物理模型。在系统动力学方程的基础上设计了基于动力学的模糊解耦控制器,综合考虑了机构的运动学和动力学特性。给出平台运动的期望轨迹,分别在Simulink和Simmechanics中进行逆动力学仿真分析,验证逆动力学方程的准确性,之后进行模糊解耦控制Simulink/Simmechanics联合仿真分析。运行结果表明,Delta机械手的响应符合预期期望,精度高于计算力矩控制,跟踪效果较好。
A 3-DOF delta robot was studied. The Simulink was applied to build the dynamic model based on principle of virtual work. According to the structure of manipulator, the Simmechanics model was established. Associated with the dynamic function and the properties of kinematics, a fuzzy decoupling controller was designed. A ＂target trajectory was given, the inverse dynamics simulation was carried out both in Simulink and Simmechanics to prove the correctness of clynamic model. Then the co-simulation was realized in accordance with a given target trajectory based on Simulink/Simmechanics. The running results show that the response of delta robot is in line with expect, the accuracy is higher than computed torque control and the tracking results is satisfactory.
出处
《机械设计与制造》
北大核心
2017年第9期243-245,249,共4页
Machinery Design & Manufacture
