一种三平移并联机器人的运动性能与仿真分析-kinematic performance and simulation analysis of a 3 - translational parallel robot.docxVIP

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一种三平移并联机器人的运动性能与仿真分析-kinematic performance and simulation analysis of a 3 - translational parallel robot.docx

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一种三平移并联机器人的运动性能与仿真分析-kinematic performance and simulation analysis of a 3 - translational parallel robot

样机模型，可以实现末端执行器的螺旋运动轨迹。并对其进行正运动学仿真、逆运动学仿真、解耦性仿真，得到末端执行器输出参考点的参数变化曲线图。在末端执行器上分别有外载荷和无外载荷的情况下，对其动力学进行仿真，比较其驱动的消耗功率和驱动力矩的变化规律，为驱动电机的选型提供了理论指导。关键词：3-RCR 并联机器人，运动学分析，动力学分析，运动性能，仿真Research on Kinematic Performance and Simulation of 3-DOF Translational Parallel RobotABSTRACTAs a special parallel mechanism in parallel robot, the end-effector of the 3-RCR 3-DOF translational parallel robot can realize three-dimensional translational without rotation. The parallel robot has the advantages of less kinematic chain, high bearing capacity, symmetrical structure, low manufacture cost, easy driving control. widely used in microelectronics, precision machining, biological sciences and medicine, etc. This paper take the 3-RCR 3-DOF translational parallel robot as an object and mainly studies its kinematics, dynamics, kinematic performance and simulation of the virtual prototype.Firstly, the paper studies on the kinematics of the 3-RCR 3-DOF translational parallel robot. using the screw theory, the degrees of freedom and the distribution of the parallel robotare calculated. and verified by the modified Kutzabach ??Grublerformula, the output of theparallel robot is determined as 3T type motion. Based on the homogeneous coordinate transformation matrix, the mutual transformation of the moving coordinate system and the fixed coordinate system, position equation was established, the forward solution of position and the inverse solution of position of the parallel robot are obtained, through the numerical example of the MATLAB, verified the forward solution of position and the inverse solution of position of the parallel robot is correct. Then, kinematic analysis of velocity and acceleration based on kinematic influence coefficient method. and decoupling analysis of the 3-DOF translational parallel robot.Secondly, the paper studies on the workspace of the 3-RCR 3-DOF translational parallel robot. Based on the Monte Carlo method, the generalized stochastic joint variable are combined by r