delta并联机器人结构参数优化与运动控制分析word格式论文.docxVIP

优秀毕业论文 精品参考文献资料 Abstract With the development of Chinese economy, peoples living standards, labor costs, product safety and accuracy requirements are also rising. Highly flexible equipment, which has high speed, high accuracy and high load capacity, becomes an integral part of automated production line. Against the development of the automated production lines in food, pharmaceutical and consumer goods industries, in this thesis, a DELTA parallel is developed, which will work instead of man to meet the light-load, high-speed, high-precision requirements of pipeline operations. Firstly, the DELTA parallel robot mechanism is introduced in my research, whose structure is simplified. Analytic geometry method is used to obtain the analytical expression. In order to verify the reasonableness of simplification and the correctness of direct and inverse solution, two joint simulation systems are established based on MATLAB and ADAMS. Then the singularity is analyzed, obtain the necessary conditions of singularity’s appearance, and put effective ways to circumvent various singularities. Against the practical application of the robot, put mission work space forward to meet the actual needs, analyze its analytical expression. The required structure parameter range is obtained for parameter optimization, which lay the foundation for subsequent structural parameters optimization and trajectory planning. Then the simplified inverse dynamics model is analyzed. Optimization objective is proposed for minimizing the maximum singular value of inertia matrix in the whole work space, which is constrained by the size and speed of the parallel robot. Finally the optimum structure parameters are obtained by MATLAB, and a suitable working space in the work space is obtained, which is useful for the trajectory planning and motion control. Finally, the trajectory planning is analyzed, which has short cycle time with no impact. A computed torque controller is designed based on the simplified i