三自由度并联机器人研究与实验平台开发-机械电子工程专业论文.docxVIP

- -II- Abstract Three degree of freedom parallel robot due to its less component, simple structure, high rigidity, strong bearing capacity, good economy, the performance is shown as the advantages of speed, fast dynamic response, high positioning accuracy. In some fields, as a strong supplement to the series robot, it has a wide application prospect in the production assembly line and other areas of industrial production. In recent years ,the research has gradually become parallel robots a new hot spot. This paper based on three degree of freedom parallel robot model analysis and simplified, establish three degrees of freedom parallel robot inverse kinematics mathematical model by the geometric method, based on the simplified model, the robot position controller is build by researching that model and then develop the software control system of experimental platform. And then establish parallel robot forward kinematics mathematical model, use this mathematical model developed robot workspace simulation matlab program, output 3D workspace image and analysis it, lay the theoretical foundation for the design of robot mechanism. Finally, to simplify the dynamic model of parallel robot, establish its dynamic mathematical model by Newton-Euler Lagrange integrated approach, solving its inverse dynamics mathematical model. Use three-dimensional software ProE to build three-dimensional solid model of 3-DOF parallel robot, import dynamics simulation software ADAMS, output each of the joint simulation speed, acceleration and displacement curves, compared with the measured experimental data of the builded platform, the results verify the correctness of three degrees of freedom parallel robot inverse kinematics model. The above research work, according to the actual conditions required MALAB simulation can sure working space of robot, further define the scope of the structural parameters of the robot, laid the foundation for the design and improvement of the robot. For designing