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

【摘要】：基于串聯(lián)機構(gòu)與并聯(lián)機構(gòu)的不同特性以及伺服電機的優(yōu)良控制特性,設(shè)計了一種串并聯(lián)混合的五自由度運動平臺,通過對平臺并聯(lián)機構(gòu)的動力學(xué)分析,提出一種3-RPS并聯(lián)機構(gòu)正解幾何算法。設(shè)計了基于C#語言的控制系統(tǒng),并對系統(tǒng)的硬件與軟件進行了介紹,控制系統(tǒng)可以實現(xiàn)平臺運動范圍內(nèi)的精確控制,測試結(jié)果顯示:平臺平動定位精度優(yōu)于10μm,轉(zhuǎn)動定位精度優(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】： 中國計量學(xué)院浙江省流量計量技術(shù)研究重點實驗室;
【分類號】：TH112
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本文編號：1901208