二自由度并联机器人开发及虚拟示教控制技术研究-机械电子工程专业论文.docxVIP

摘要 并联机器人相对于串联机器人有若干的优势，如：高负荷\重量比、高速度、高刚度、 高精度和较低的惯性。但是对于并联机器人来说，传统的通过反复制造物理样机进行试验 的开发手段很难达到精度要求，并且研发周期长、成本高。本文将研究利用虚拟环境中的 虚拟二自由度并联机器人进行现实二自由度并联机器人的开发，同时通过虚拟示教技术进 行现实二自由度并联机器人的运动控制。 介绍了二自由度并联机器人的实际应用，即其在零件检测系统中的作用，二自由度并 联机器人充当剔除机构的作用，将被检测为不合格的零件筛选出去。 利用 Pro/E 构建虚拟的二自由度并联机器人，并借助 Pro/TOOLKIT 插件进行干涉检测、 运动学仿真分析和机器人模型的优化。设计了二自由度并联机器人的控制硬件，控制硬件 由 DSP2812 开发板和安川伺服驱动单元组成，通过对 DSP2812 开发板的编程和伺服驱动 器的设置可实现对两个伺服电机的位置控制。 基于误差传递法则，分析了杆长误差以及角度误差对末端执行件轨迹精度的影响，并 利用 matlab 仿真软件绘制了轨迹误差在工作空间中的变化情况的三维图。 进行二自由度并联机器人虚拟示教实验，利用虚拟机器人对现实机器人进行运动控制 以使现实并联机器人完成虚拟并联机器人的预定轨迹。 关键词：二自由度并联机器人，Pro/TOOLKIT 插件，误差传递，示教控制 Abstract Compared with serial robot, parallel robot has many advantages，such as high load to weight ratio, high speed, high rigidity, high precision and low inertia. But the traditional method of repeating physical prototype manufacturing and experiments for the parallel robot is difficult to achieve the precision requirements. And the long development cycle and high cost is also the points. This thesis will be aimed at the real 2-DOF parallel robot’s development and motion control using virtual 2-DOF parallel robot in the virtual environment. The practical application of a 2-DOF parallel robot is introduced, which is used in a parts detection system as an eliminating mechanism to get rid of the unqualified parts. The virtual 2-DOF parallel robot is constructed using Pro/E, which includes interference detection、kinematics simulation analysis and model optimization using Pro/TOOLKIT. The hardware of control system is designed which consists of a DSP2812 development board and two YASKAWA Servo control units. Based on the programming of DSP2812 development board and setting of YASKAWA Servo control unit, the control of the 2-DOF parallel robot is realized. Based on the rule of error transferring, the error of bar length and the angle error’s influence of terminal part’s trajectory is analysed. And using the Matlab three-dimensional graph function, the error of movement is tracked in the work