本文選題：并聯(lián)機(jī)器人 + 運(yùn)動(dòng)學(xué)分析　； 參考：《新疆大學(xué)》2017年碩士論文

【摘要】：并聯(lián)機(jī)器人憑借其精度高、承載能力強(qiáng)、剛度大等優(yōu)點(diǎn)在工業(yè)中得到了廣泛的應(yīng)用。冗余驅(qū)動(dòng)的引入使得并聯(lián)機(jī)器人能夠增大有效的工作空間,強(qiáng)化其關(guān)節(jié)驅(qū)動(dòng)力。然而由于并聯(lián)機(jī)器人復(fù)雜的機(jī)械結(jié)構(gòu),使得其運(yùn)動(dòng)學(xué)與動(dòng)力學(xué)性能分析難度增大。本文以一個(gè)平面二自由度冗余并聯(lián)機(jī)器人為研究對(duì)象,從運(yùn)動(dòng)學(xué)分析、運(yùn)動(dòng)學(xué)標(biāo)定、動(dòng)力學(xué)建模以及控制器設(shè)計(jì)等方面對(duì)其展開研究�；谄矫娑杂啥热哂嗖⒙�(lián)機(jī)器人的模型,本文先對(duì)其進(jìn)行運(yùn)動(dòng)學(xué)模型建立。通過模型來分別推導(dǎo)出并聯(lián)機(jī)器人的運(yùn)動(dòng)學(xué)正反解問題。同時(shí),考慮到通常情況下并聯(lián)機(jī)構(gòu)的運(yùn)動(dòng)學(xué)正解要更難求得,因此提出引入神經(jīng)網(wǎng)絡(luò)的思路來解決該問題,并對(duì)并聯(lián)機(jī)構(gòu)的正向運(yùn)動(dòng)學(xué)求解做MATLAB仿真分析。在實(shí)際應(yīng)用中,為了更好的發(fā)揮并聯(lián)機(jī)器人高精度的優(yōu)勢(shì),需要對(duì)其進(jìn)行標(biāo)定。本論文提出將智能優(yōu)化算法與研究對(duì)象進(jìn)行結(jié)合的思路,對(duì)其運(yùn)動(dòng)學(xué)的各個(gè)參數(shù)進(jìn)行標(biāo)定,并在MATLAB上做出了仿真以及數(shù)據(jù)對(duì)比分析。研究了平面二自由度冗余并聯(lián)機(jī)器人的動(dòng)力學(xué)問題。選用拉格朗日法首先將研究對(duì)象從并聯(lián)機(jī)器人拆分成串聯(lián)機(jī)器人后再進(jìn)行動(dòng)力學(xué)建模,最后經(jīng)過推導(dǎo)得出其動(dòng)力學(xué)各個(gè)微分方程,為控制器設(shè)計(jì)奠定基礎(chǔ)。結(jié)合對(duì)平面二自由度冗余并聯(lián)機(jī)器人的動(dòng)力學(xué)分析,設(shè)計(jì)了一款基于動(dòng)力學(xué)的模糊自適應(yīng)控制器。為了對(duì)比動(dòng)力學(xué)控制器的軌跡追蹤效果,又設(shè)計(jì)了一款基于運(yùn)動(dòng)學(xué)的PD(比例微分)控制器。通過對(duì)上述兩種控制器的控制率進(jìn)行設(shè)計(jì),并在Simulink上進(jìn)行控制器模型的搭建,通過追蹤相同的運(yùn)動(dòng)路徑對(duì)兩個(gè)控制器的結(jié)果進(jìn)行分析,得到運(yùn)動(dòng)學(xué)控制器與動(dòng)力學(xué)控制器不同的控制效果與精度。
[Abstract]:Parallel manipulators have been widely used in industry because of their high precision, high bearing capacity and high stiffness. The introduction of redundant drive enables parallel robot to increase its effective workspace and enhance its joint driving force. However, it is more difficult to analyze the kinematics and dynamics performance of parallel robot due to its complicated mechanical structure. In this paper, a planar two-degree-of-freedom redundant parallel robot is studied from the aspects of kinematics analysis, kinematics calibration, dynamic modeling and controller design. Based on the model of planar two degree of freedom redundant parallel robot, the kinematics model is established in this paper. The forward and inverse kinematic solutions of parallel manipulators are derived by the model. At the same time, considering that the forward kinematics solution of the parallel mechanism is more difficult to obtain, a neural network is proposed to solve the problem, and the forward kinematics solution of the parallel mechanism is analyzed by MATLAB simulation. In practical application, in order to give full play to the high precision of parallel robot, it is necessary to calibrate it. In this paper, the idea of combining the intelligent optimization algorithm with the research object is put forward, and the kinematics parameters are calibrated, and the simulation and data comparison are made on MATLAB. The dynamics of planar two-degree-of-freedom redundant parallel manipulators is studied. The Lagrangian method is used to divide the object of study from parallel robot into serial robot and then to model dynamics. Finally, the differential equations of dynamics are derived, which lays a foundation for controller design. A fuzzy adaptive controller based on dynamics is designed based on the dynamic analysis of planar two-degree-of-freedom redundant parallel robot. In order to compare the trajectory tracking effect of dynamic controller, a PD-based PD-based kinematics controller is designed. The control rate of the two controllers is designed, and the controller model is built on Simulink. The results of the two controllers are analyzed by tracing the same motion path. The control effect and precision of kinematics controller and dynamics controller are obtained.
【學(xué)位授予單位】：新疆大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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