本文選題：并聯(lián)機器人 + 軌跡跟蹤��； 參考：《蘭州理工大學》2017年碩士論文

【摘要】：隨著機器人技術的不斷發(fā)展,機器人已經(jīng)在各行各業(yè)被廣泛使用,其中并聯(lián)機器人因具有操作空間大、承載能力強、運動精度高、運動學逆解簡單、操作速度快等一系列優(yōu)點,受到眾多研究者的青睞。近幾年來,在化妝品、藥品和電子等領域的包裝生產(chǎn)線上,存在著大批量重復性的工作,如拆卸、分揀、搬運等,目前這類工作大部分由人工來完成,這勢必會降低工作效率和產(chǎn)品精度。因此急需開發(fā)一種少自由度機械手來代替人工完成上述工作,以提高工作效率和產(chǎn)品精度。Delta機器人是一種典型的空間三自由度平動并聯(lián)機構,與串聯(lián)機器人相比,它的整體結構比較簡單、末端執(zhí)行器運動速度高等優(yōu)點,已成功解決了上述問題并得到廣泛應用。目前國內(nèi)外對Delta機器人在軌跡規(guī)劃、控制策略等方面的研究還不夠成熟,導致在運行過程中存在運動精度不高、運動穩(wěn)定性較低等問題。本文以工業(yè)中應用最為廣泛的三自由度Delta機器人為研究對象,首先對國內(nèi)外Delta機器人的研究現(xiàn)狀進行了概括總結。其次以Delta機器人的工作原理和結構特點為依據(jù),分析了機構的自由度數(shù)、結構設計參數(shù)和結構聯(lián)接形式,運用Pro/E軟件建立Delta機器人的三維實體模型,并驗證了模型的合理性。再者利用Pro/E軟件和ADAMS軟件之間的接口,將所建立的Delta機器人的三維實體模型導入到ADAMS中,通過添加質量和約束建立虛擬機器人模型,在關節(jié)空間中對Delta機構的期望軌跡進行合理的軌跡規(guī)劃,基于ADAMS軟件進行運動學和動力學仿真分析。仿真結果表明:末端執(zhí)行器的速度和加速度以及主動臂的角速度和角加速度隨時間變化均勻且連續(xù),拐角處過渡平滑;Delta機器人運行過程較為平穩(wěn),具有良好的運動性能。最后為了改善機構的軌跡跟蹤精度,以Delta機器人末端執(zhí)行器的運動軌跡為控制目標,采用MATLAB軟件分別建立PID控制系統(tǒng)和模糊PID控制系統(tǒng),基于ADAMS和MATLAB進行聯(lián)合仿真。仿真結果表明:模糊PID控制相對于PID控制不僅響應速度較快,而且控制精度較高,達到了較為滿意的仿真效果,該結果可為Delta機器人軌跡跟蹤控制研究提供可靠的理論化指導。
[Abstract]:With the continuous development of robot technology, robot has been widely used in various industries. Among them, parallel robot has a series of advantages, such as large operation space, strong bearing capacity, high motion precision, simple kinematics inverse solution, fast operation speed, and so on. It is favored by many researchers. In recent years, in the packaging production lines in the fields of cosmetics, pharmaceuticals and electronics, there is a lot of repetitive work, such as disassembly, sorting, handling, etc. At present, most of this kind of work is done by manual work. This will inevitably reduce work efficiency and product accuracy. Therefore, it is urgent to develop a small degree of freedom manipulator instead of manual to complete the above work, so as to improve the working efficiency and product precision. Delta robot is a typical parallel mechanism with three degrees of freedom in space, compared with the serial robot. It has the advantages of simple structure and high speed of the end effector, which has been successfully solved and widely used. At present, the research on trajectory planning and control strategy of Delta robot is not mature enough, which leads to some problems such as low motion precision and low motion stability. In this paper, the three-degree-of-freedom (Delta) robot, which is widely used in industry, is taken as the research object. Firstly, the research status of Delta robot at home and abroad is summarized. Secondly, based on the working principle and structural characteristics of Delta robot, the degree of freedom of mechanism, structural design parameters and structural connection form are analyzed. The 3D solid model of Delta robot is established by using Pro/E software, and the rationality of the model is verified. Thirdly, using the interface between Pro/E software and ADAMS software, the 3D entity model of Delta robot is imported into ADAMS, and the virtual robot model is established by adding quality and constraints. The desired trajectory of the Delta mechanism is reasonably planned in the joint space, and the kinematics and dynamics simulation is carried out based on the ADAMS software. The simulation results show that the velocity and acceleration of the end actuator and the angular velocity and acceleration of the active arm vary uniformly and continuously with time. Finally, in order to improve the tracking accuracy of the mechanism, the trajectory of the end actuator of the Delta robot is taken as the control object. The PID control system and the fuzzy PID control system are established by using the MATLAB software, and the joint simulation is carried out based on ADAMS and MATLAB. The simulation results show that the fuzzy PID control is not only faster than PID control, but also has higher control precision, and achieves a satisfactory simulation effect. The results can provide reliable theoretical guidance for the research of Delta robot trajectory tracking control.
【學位授予單位】：蘭州理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TP242

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