摘要
为开展Delta机器人运动学和动力学的仿真研究,改善Delta机器人的运动特性,首先利用SolidWorks软件建立其三维模型,其次采用修正梯形曲线的方法在关节空间中进行轨迹规划,最后运用MATLAB软件和ADAMS软件进行联合仿真。仿真结果表明:在关节空间中进行轨迹规划,主动臂的角速度和角加速度以及末端执行器的速度和加速度随时间变化连续,Delta机器人运行平稳,具有良好的运动性能;Delta机器人在X、Y方向运动的相对误差分别降低了0.2%、0.4%,Z方向的偏差减少了1.5mm。仿真结果和理论结果一致,为研究Delta机器人的轨迹规划和优化控制提供了一定的理论依据。
In order to carry out the kinematics and dynamics simulation,and improve the movement characteristics of Delta robot,joint simulation was conducted by using ADAMS software and MATLAB software.Before that,three-dimensional model of Delta robot had been established first based on SolidWorks,and then modified trapezoid curve had been adopted for trajectory planning in joint space.The simulation results showed that angle velocity and angle acceleration of the active arm,velocity and acceleration of the endactuator varied with time continuously in the trajectory planning.Delta robot appeared good movement performance and operation stability.Relative error of Delta robot motion were reduced by 0.2% and 0.4%in Xand Ydirection and 1.5mm in Zdirection.The coincident results between simulation and theory would provide theoretical basis for kinematic analysis and optimization control of Delta robot.
出处
《中国农机化学报》
2016年第11期102-106,122,共6页
Journal of Chinese Agricultural Mechanization
基金
国家自然科学基金(50966002
5116608)
