3dof平动正交并联机器人的性能分析与分析 word格式.docx

AbstractBasedontheDeltaparallelrobotandhomeandbroadparallelrobotresearch,thethesisproposesatranslationalorthogonaltypeof3-DOFparallelrobotprocessesperformanceanalysisonit.Thisrobotiseasilyassembledanditsinitialpositionisconvenientlydetected.Thestructurefeatureofthisparallelrobotispresented,andthereversepositionisdiscussed.Accordingtothereversepositionequationandthestructureconstraints,itsworkspaceisinvestigated,theshapeofworkspaceoutlinesandthree-dimensionalentityarealsoacquired.ThethesisprocessescomparativeanalysistotheworkspacewithDeltaparallelrobot.ThevelocityJacobianmatrixofthisparallelrobot is established, twokindsofperformanceevaluationcriterionsaredefinedandthedistributionofthesecriterionsinworkspaceispresented.Thethesisalsoprocessescompara-tiveanalysistothe performanceevaluationcriterionsoftwoparallelrobotsaccordingtothevelocityJacobianmatrixofDeltaparallelrobot.Accordingtoprincipleoflinearsuperposition,thegeometricerrormodelofthisparallelrobotisobtained.Threekindsoferrorevaluationcriterionsaredefined,thedistributionofthesecriterionsinworkspaceispresentedandtheerrorsdistributeonterminalplatformarediscussedbyusingMonte-Carlomethod.ByusingLagrange’sequation,thedynamicmodelofthisparallelrobotispresent.Thethree-dimensionentitymodelofthisparallelrobotisdesignedbySolidworks,andthemodelisimportedintoADAMS,thenthesimulationofthemodelisdiscussed.KeywordsParallelrobot;Workspace;Performanceevaluationcriteria;Lagrangesequation;Modelsimulation目录第1章绪论······················································································11.1 概述······························································································11.2 并联机器人的研究现状······································································11.3 并联机器人的应用············································································31.4 少自由度并联机器人的研究现状··························································61.5 课题主要研究意义和研究内容·····························································9 第2章3-DOF平动正交