摘要
针对航空制造领域中对飞机机翼等大型工件的高加工精度、高生产效率等要求。首先,通过螺旋理论对6-SPU并联机器人进行了机构自由度的分析,并根据弗莱纳-雪列空间三元矢量原理以及并联机构的逆运动学求解方法,对6-SPU并联机构动平台的运动规划进行了分析和研究,得到机构动平台在加工过程中的相应位姿。然后,利用齐次坐标变换矩阵和逆解运算公式进一步确定6-SPU并联机构动平台上末端执行器按照预期运动轨迹移动时在驱动副上所施加的驱动运动规律。最后,借助三维软件SolidWorks及MATLAB中Simulink仿真模块进行建模仿真,进而验证了对并联机构运动轨迹规划的可行性,为移动式并联加工平台的工程设计提供理论基础。
Aiming at the requirements of high machining accuracy and high production efficiency for large workpieces such as aircraft wings in the field of aviation manufacturing. Firstly, the degree of freedom of 6-SPU parallel robot is analyzed by using screw theory, and the trajectory planning of moving platform of the 6-SPU parallel mechanism is analyzed and studied based on the inverse kinematics method and three ele ment space vector according to the Frenet-Serret, the movement platform corresponding position and gesture in the processing process is got. Then, the homogeneous coordinate transformation matrix and the inverse so lution calculation formula are used to further determine the movement rules exerted on the end actuator when it is moving on the desired trajectory. Finally, the virtual model of this mechanism is created in SolidWorks software and the planning trajectory is verified through simulation in Simulink simulation module in MAT LAB modeling simulation, and the theoretical foundation for the engineering design of mobile parallel pro cessing platform is provided.
作者
刘文彩
许勇
陈佳丽
梁诤
Liu Wencai;Xu Yong;Chen Jiali;Liang Zheng(College of Mechanical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《机械传动》
北大核心
2019年第6期75-82,共8页
Journal of Mechanical Transmission
基金
上海工程技术大学研究生科研创新项目(E3-0903-17-01019)
关键词
并联机器人
逆运动学
轨迹规划
虚拟样机技术
Parallel robot
Inverse kinematics
Trajectory planning
Virtual prototype technology
