三自由度Delt机器人工作空间仿真方法研究.pdfVIP

Artificial Intelligence and Robotics Research 人工智能与机器人研究, 2017, 6(4), 115-124 Published Online November 2017 in Hans. /journal/airr /10.12677/airr.2017.64013 The Study on Simulation Method of 3-DOF Delta Robot Workspace 1 2 1 Yihui Jiang , Shengjie Jiao , Liyuan Chang 1 School of Construction Machinery, Chang’an University, Xi’an Shaanxi 2 National Engineering Laboratory for Highway Maintenance Equipment, Chang’an University, Xi’an Shaanxi th rd st Received: Oct. 13 , 2017; accepted: Oct. 23 , 2017; published: Nov. 1 , 2017 Abstract For solving the problem of workspace simulation of 3-DOF Delta Robot, we propose three repre- sentational workspace simulation methods by matlab and catia after summarizing the existing methods. Taking the Delta Robot in laboratory as the research object, three methods are used to simulate workspace by its structure parameters. And the results are compared and verified through the actual measured data. The results show that the workspace models of three simula- tion methods are same, so all the three methods are feasible. Because the simulation method based on forward position kinematic (FPK) solution in Matlab can change the range of input angle of active rod, its result has the highest data coincidence. Gradually increase the input angle and simulate on the method based on (FPK) solution, the results show that the working space is from the bottom up, from the center to the edge, along the three active bar, gradually increase, until the whole. Keywords 3-DOF, Delta Robot, Simulation, Workspace, Structure Parameter 三自由度Delta机器人工作空间