基于5R并联堆垛机构的运动学分析与示教再现
Kinematics analysis and teaching and playback based on 5R parallel stacking mechanism
-
摘要: 研究了一种基于5R并联堆垛机构的运动轨迹智能控制的设计方法.该方法通过对5R机构控制系统和逆运动学的分析,给定5R机构2个步进电动机的位置,从而确定连杆末端执行件的位姿,通过使每个电动机角度变化之差平方和最小的方法来解决求运动学逆解时唯一的连杆执行件轨迹点并不能确定唯一的2个步进电动机位姿的问题.示教再现方法很好地解决了5R机构的智能控制,可以减少编程工作,提高堆垛工作效率.Abstract: A design method that intelligent control of motion trajectory based on 5R parallel stacking mechanism was investigated.By analysis the control system and the inverse kinematics of the 5R mechanism, it can be concluded when the 5R is given two original moving parts, it can uniquely identify the pose of the rod end of the implementation of parts, in seeking the position and orientation inverse solution with the minimum principle that the square of the residuals between the prime mover rotation angle of adjacent track points, the only connecting rod track can't determine the only two original moving parts. It is a good method to solve the intelligent control of the 5R institutions by teaching and playback method. It can also reduce the programming effort and improve the efficiency of stacking work.
-
-
[1]
李伟,王玉涛.一种新型二自由度并联机械臂的轨迹控制[J].煤矿机械,2012,33(1):207.
-
[2]
李伟,杨晨.基于双轴极坐标的直线插补算法的研究[J].煤矿机械,2009,30(10):97.
-
[3]
路敦民.被动式五连杆人际合作机器人研究[D].哈尔滨:哈尔滨工程大学,2005.
-
[4]
付连芳.五自由度教学机器人的示教再现控制系统研究[D].哈尔滨:哈尔滨工程大学,2001.
-
[5]
沈锦华.五连杆式人机合作机器人控制及实验研究[D].哈尔滨:哈尔滨工程大学,2004.
-
[6]
张春林,余跃庆.高等机构学[M].北京:北京理工大学出版社,2005:11-94.
-
[7]
曹惟庆.连杆机构的分析与综合[M].北京:科学出版社,2002:5.
-
[1]
-
点击查看大图
计量
- PDF下载量: 33
- 文章访问数: 796
- 引证文献数: 0
下载:
