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机器人机构学、运动学和动力学分析</span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">2.1 引言</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">本章将对</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人机构学、运动学和动力学进行深入分析，其中机构学研宄中 主要介绍该机器人的结构特点、工作原理及其设计理念，与此同时，对机器人的工作空 间和奇异位形进行理论上的分析。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">运动学逆解、正解分析是对机器人进行轨迹规划的基础，动力学分析是提高机器人 运行速度和精度的有效手段，本文将采用拉格朗日方法对机器人进行动力学分析，以实 现下一章节中，运动学轨迹规划与动力学轨迹优化相结合，以运动学中速度或者动力学 中关键部件受力情况为优化对象，从而达到降低机器人成本、提高运行速度和机器人寿 命的目的。为了简化</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Python</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">软件编程的复杂性，对平面两自由度高速并联工业机器人 </span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">动力学中影响较小的部分进行了简化，简化后的动力学模型可以满足理论和工程 上的实际需求。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">2.2 机构学分析</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人与其他的并联机器人一样，由静平台、动平台和支链组成，它的巧妙之 处在于从动臂采用平行四边形机构，由于平行四边形机构能够保证输出端与输入端的运 动相同，三个这样的平行四边形机构就约束了动平台的三个转动自由度，使得动平台只 保留了三个纯平动自由度</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[62]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">本文所述的</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">两自由度高速并联工业机器人实物图如图</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">2-1</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">所示，其结构特点 是：机器人末端执行器只能在竖直平面内运动，为了保证末端执行器始终保持水平，在 右端主动臂和从动臂中采用了两个平行四杆机构。</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人的机械臂是铰接型操作 臂，有时也称为关节型操作臂，该类型的操作臂对角度误差具有放大作用，即操作臂越 长末端执行器的误差越大。为了从理论和实际中，减小</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人的运行误差，同时， 提高机器人的运行速度和精度，采用两台高精度伺服直驱力矩电机并通过胀紧套与主动 臂直接连接，避免了由于减速器齿轮背隙产生的误差，从原理上提高了机器人的精度， 该直驱力矩电机实物如图</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">2-2</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">所示。为了减轻机械手臂的质量，主动臂、从动臂、三角 臂、末端执行器均采用高强度的铝合金板材或管材，并在主动臂和三角臂上开有减重孔。</span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"> </p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“高速并联工业机械手臂分析设计与实现”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a 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