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提出了一种新型完全各向同性移动并联机器人。首先对该机器人的运动学问题进行了分析,建立其位置、速度和加速度方程;然后以“库伦+黏性”摩擦模型为基础,推导出驱动滑块和球铰所受的摩擦力/力矩方程;在考虑摩擦的情况下,利用牛顿-欧拉法分别建立了驱动滑块、分支运动链和机器人动平台的动力学模型,揭示了分支驱动力和加在动平台上的外力之间的映射关系;最后基于ADAMS软件和MATLAB编程对机器人动力学进行仿真,绘制出驱动滑块所受的驱动力变化曲线,两种仿真结果完全一致,验证了理论分析的正确性和有效性。该机构可用于农业机器人、工业机器人的末端执行机构。
A new type of fully isotropic mobile parallel robot is proposed. Firstly, the kinematics of the robot is analyzed to establish its position, velocity and acceleration equations. Based on the “Coulomb + viscous” friction model, the friction / Moment equations are taken into account. Based on the Newton-Euler method, the dynamic model of the driving slider, the branching kinematic chain and the robot’s dynamic platform is established under the condition of considering the friction. The dynamic force between the driving force of the branch and the external force applied to the moving platform is revealed Finally, based on the ADAMS software and MATLAB programming, the dynamics of the robot is simulated and the driving force curve of the driving slider is drawn. The simulation results of the two kinds of simulation are exactly the same, which proves the correctness and effectiveness of the theoretical analysis. The body can be used for agricultural robots, industrial robots, the end of implementing agencies.