机械毕业设计（论文）-三自由度并联机器人结构设计.docVIP

东 莞 理 工 学 院 本 科 毕 业 设 计 （2013届） 题 目：三自由度并联机器人结构设计 学生姓名： 学 号： 200941101214 院（系）：机械工程学院 专业班级：机械设计制造及其自动化专业(2)班 指导教师： 起止时间：2013年月—20年月并联机器人机构相对简单数学模型却非常复杂，具有刚度大、承受能力强、精度、动力性能好等一系列特点，应用领域。机器人是一种具有3个平动自由度的高速并联机器人，整体结构简单、紧凑驱动部分均布于平台1、本文主要一种三自由度并联机器人，位置正反解分析建立运动学模型。 考虑并联机器人的结构特点,机构的仿真首先通过SolidWorks软件设计出机构模型，再导入ADAMS软件中进行受力和运动。通过在ADAMS 软件中进行的仿真能够让我们对一个机构复杂的机器人有一个比较直观的认识，同时仿真数据也让我们能够在进行机构设计时有个好的回馈，对提高我们的设计效率和设计效果Three degrees of freedom parallel robot structure design Abstract:Parallel robot is compared with the traditional serial robot, its mechanism is relatively simple mathematical model is very complex, but it has a large stiffness, strong bear ability, high precision, good dynamic performance and a series of characteristics, thus gradually been used in various fields.Delta robot is a kind of high speed parallel robot has three translational degrees of freedom, and is one of the more successful commercial application of parallel robot. Delta robot is a kind of high speed parallel robot has three translational degrees of freedom, which has simple and compact whole structure and drive part divide static platform features. 1、This paper mainly studies a three degrees of freedom parallel robot, the closed forward and inverse solution analysis and by using its structural principle to establish the kinematics model of mechanical structure. 2、Considering the structural feature of parallel robot, mechanism simulation, first by SolidWorks software design agency model, and then imported into ADAMS software the force and movement simulation. Through simulation in ADAMS software can let us to an agency complex robot has a more intuitive understanding, at the same time, the simulation data in mechanism design also allows us to have a good feedback, to improve the design efficiency and design result we have a very good effect.  keywords: Delta intiutions;three degrees of freedom parallel robot;kinematics analysis;ADAMS simulation  目 录 一、绪论 1 （一）研究背景 1