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并联机器人拓扑结构特性分析及其计算机自动生成

作者:优质期刊论文发表网  来源:www.yzqkw.com  发布时间:2019/9/24 9:20:38  

摘要:建立数字化的机构学拓扑分析理论和方法,进而实现并联机构拓扑特性分析的自动化,是机构学的发展趋势。基于方位特征(Position and Orientation Characteristic,POC)集理论提出的POC集、自由度、耦合度等并联机构拓扑结构特征指标,能够准确、高效地揭示机构的拓扑结构与其基本功能、运动学和动力学性能之间的内在联系,是机构设计、应用前必须了解的前提之一,为并联机构的性能评价与方案优选提供了理论基础。本文针对传统人工分析复杂、研究效率低下的现状,将机器人机构拓扑结构理论与现代计算机技术相结合,研究并联机构拓扑结构特性的计算机自动分析软件,为机构设计人员提供高效、实用的设计工具。

根据基于POC集的并联机构拓扑结构设计理论和方法,建立了并联机构拓扑结构的计算机语言描述方法,用数字化矩阵来描述由多条支链及动、静平台组成的并联机构相应的结构与位置关系,便于计算机的识别与计算。

提出以一个2×6的矩阵来表示串联支链和并联机构的POC集,以表示机构末端输出的运动维数和方向;在此基础上,根据POC集“交”、“并”运算法则,提出了适用于计算机分析的POC集“交”、“并”运算的程序化算法。

在并联机构拓扑结构的数字化描述的基础上,建立了并联机构POC集、自由度、耦合度等拓扑结构特性自动分析的程序化算法,实现了并联机构拓扑结构特性的自动分析。

基于C++的MFC环境,开发出了具有良好人机交互性、操作简便、界面友好的软件平台;并运用软件分析了3~6自由度并联机构的拓扑结构特性,验证了软件的有效性。

运用软件对一类三自由度并联机构进行了拓扑分析,并对该机构进行了运动学分析,包括:正反解、工作空间、奇异性、速度和加速度。

It is the trend of mechanism development toestablish the theory and method of digital mechanism topology analysis andrealize the automation of parallel mechanism topology analysis. Based on thetheory of POC set, Professor Yang Tingli put forward the POC set, degree offreedom, coupling degree and other topological structural characteristics. Theycan accurately and effectively reflect the basic functions, kinematics anddynamics performance of the mechanism, are one of the prerequisites for thedesign and application of the mechanism, they provide a theoretical basis forthe performance evaluation and optimization of the mechanism. Aiming at thecomplex and inefficient situation of traditional manual analysis, the papercombines the theory of robot mechanism topology with modern computertechnology, and studies the computer automatic analysis software of parallelmechanism topology characteristics, which provides efficient and practicaldesign tools for mechanism designers.

Based on the POC set theory, the computerlanguage description method for the topological structure of parallel mechanismis established. The digital matrix is used to describe the correspondingstructure and position relationship of parallel mechanism composed of multiplebranches, moving and static platforms, which is convenient for computeridentification and calculation.

The 2*6 matrix is used to represent the POCset of series branched chains and parallel mechanisms, which can be used torepresent the motion dimension and direction of the end output of themechanism. On this basis, the algorithms for POC intersection and operation areproposed, which is suitable for computer analysis.

Based on the digital description of thetopological structure of parallel mechanisms, a programmed algorithm forautomatic analysis of the topological structure characteristics of parallelmechanisms, such as the POC set, DOF and coupling degree, is established torealize the automatic analysis of the topological structure characteristics ofparallel mechanisms.

Based on the MFC environment of C++, asoftware platform with good human-computer interaction, simple operation andfriendly interface was developed. The topological structure characteristics of3~6 DOF parallel mechanism were analyzed by software, and the validity of thesoftware was verified.

A kind of parallel mechanism with threedegrees of freedom is analyzed by software, and its kinematics is analyzed,including forward and inverse solutions, workspace, singularity, speed andacceleration.

关键词:并联机构;拓扑结构特性;方位特征集;数字化;运动学

parallel mechanism; topological structurecharacteristics; POC set; digitalization; kinematic

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