摘要
设计了立面1R2T三自由度绳牵引并联机构的模型.在竖直平面上对末端执行器模型进行了速度、加速度运动学分析,包括速度、加速度运动学逆解.用力矩平衡法确定其质心位置,对位姿运动学模型进行了一阶、二阶求导,得出了运动学速度、加速度逆解模型.根据封闭矢量三角形法则,求出了速度运动学逆解模型,给出了运动学速度逆解Jacobian矩阵.在规划的椭圆轨迹下,采用Simulink仿真软件进行了末端执行器质心的速度、加速度和绳速度变化规律的仿真,并搭建了控制系统的硬件设备.研究表明,在所规划椭圆轨迹下,所有绳速度、加速度的变化是连续的且求解速度、加速度逆解的算法正确、通用.
A kind of 3-DOF wire-drlven parallel manipulator with 1R2T type is designed. The kinematical analysis on the velocity and acceleration of its end effector is given on the upright position according to the manipulator. The centroid position of the effector is determined by moment balance principle. The inverse solution of both velocity and acceleration kinematics has got through first and second derivative of the position kinematics. The principle of closed vector triangle is applied when deriving the inverse solution of velocity kinematics. In the meantime, Jacobian Matrix of inverse solution of velocity kinemat- ics is set up. In the ellipse trace designed for the effector, the simulation results including both velocity and acceleration of end effector＇s centroid and the velocity varying of cables have showed. The equipment of control system is constructed. The results indicate that the velocity and acceleration of cables are continuous and the method presented is available and universal.
出处
《暨南大学学报（自然科学与医学版）》
CAS
CSCD
北大核心
2007年第5期440-444,共5页
Journal of Jinan University(Natural Science & Medicine Edition)
基金
国家自然笠学基金资助项目(50475099)
关键词
绳牵引
并联机构
三自由度
运动学
wire-driven
parallel manipulator
three DOFs
kinematics
