基于并联机构的零件供给器及控制系统分析-analysis of parts supplier and control system based on parallel mechanism.docxVIP

software system mainly includes user interface and various modules function∞mpilinginordertomeetthesystemsneeds.Keywords:ParallelManipulator;6-SPSManipulator;ADAMS;indirectsolutionof position;controlsystem;LabVlEW;Th臼sType:ApplicationFoundation目录1 绪论...............…................….................…........….......…..............……...............................11.1 并联机器人机构概述及国内外研究现状.........................…….......................11.1.1并联机构概述....................................…........……….....................21.1.2国外研究现状..................................…….......…..................... ...... 21.1.3国内研究现状.................................................…..................... ...... 31.2 并联机构的应用前最.....................................................................................41.2.1井联机构的优点...............................…….....................41.2.2 在机械孚行业上的应用.........................61.3并联机构控制系统研究的基本问题..............................71.3.1井联机器人常用的控制方法简介.............................81.3.2 控制的关键问题及发展跑势.....…….....................91.3.3控制策略............................................…….....................9nUl l l l1.4LabVIEW简介........1，1.5 本文选题的意义和主要研究内容气4气41.5.1 本文的主要研究内容川1.5.2 本课题的研究意义......2Me093399型上料单元介绍..........………………......................…......................…132.1 Me093399系统简介....132.2 上料单元的结构和动作分析142.2.1 上料单元的结构................................................................................142.2.2机械手的动作流程.................................…........………...........152.3上料单元的控制..................................……，.，.，.，.，.，......162.4单片机控制系统...........................................................................................182.4.11/0接口电路的设计........................................................................192.5本章小结........................................................................................................213 并联机构建模及运动学分析.........................................................…….......................223.1