本文選題：串并聯(lián)混合 + 五自由度平臺(tái)��； 參考：《機(jī)床與液壓》2017年17期

【摘要】：基于串聯(lián)機(jī)構(gòu)與并聯(lián)機(jī)構(gòu)的不同特性以及伺服電機(jī)的優(yōu)良控制特性,設(shè)計(jì)了一種串并聯(lián)混合的五自由度運(yùn)動(dòng)平臺(tái),通過(guò)對(duì)平臺(tái)并聯(lián)機(jī)構(gòu)的動(dòng)力學(xué)分析,提出一種3-RPS并聯(lián)機(jī)構(gòu)正解幾何算法。設(shè)計(jì)了基于C#語(yǔ)言的控制系統(tǒng),并對(duì)系統(tǒng)的硬件與軟件進(jìn)行了介紹,控制系統(tǒng)可以實(shí)現(xiàn)平臺(tái)運(yùn)動(dòng)范圍內(nèi)的精確控制,測(cè)試結(jié)果顯示:平臺(tái)平動(dòng)定位精度優(yōu)于10μm,轉(zhuǎn)動(dòng)定位精度優(yōu)于0.01°。
[Abstract]:Based on the different characteristics of the series mechanism and the parallel mechanism and the excellent control characteristics of the servo motor, a series and parallel hybrid five-degree-of-freedom motion platform is designed. The dynamic analysis of the platform and parallel mechanism is carried out. A forward geometric algorithm for 3-RPS parallel mechanism is proposed. The control system based on C # language is designed, and the hardware and software of the system are introduced. The test results show that the accuracy of the platform is better than 10 渭 m and the precision of rotation is better than 0.01 擄.
【作者單位】： 中國(guó)計(jì)量學(xué)院浙江省流量計(jì)量技術(shù)研究重點(diǎn)實(shí)驗(yàn)室;
【分類(lèi)號(hào)】：TH112
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本文編號(hào)：1901208