三自由度并联机械手的目标定位和轨迹规划的设计与验证

摘要

The robot vision technology was applied to the target location of the 3-DOF parallel manipulator, and a mathematical model of the position inverse solution for the manipulator with 3-DOF was established. The LabVIEW software was used for programming and Matlab software was used to simulate the manipulator trajectory planning algorithm, thus the simulation of the whole working process of the grasping task was implemented. Finally, the prototype of 3-DOF parallel manipulator was made and tested. By comparing the experimental data with the theoretical design, the correctness of the theoretical analysis and model is proved. It is also proved that the introduction of machine vision technology can increase the intelligent level and positioning precision of the parallel manipulator.%将机器视觉技术应用到三自由度并联机械手的目标定位中,建立了三自由度并联机械手位置逆解的数学模型. 采用LabVIEW软件编写上位机程序,并运用Matlab软件对机械手轨迹规划的算法进行仿真,完整地模拟出了机械手完成抓取任务的整个工作过程. 最后,完成了样机的制作,并对样机进行了测试. 通过将实验数据与理论设计进行对比,可以有效地证明理论分析和模型建立的正确性,同时也进一步证明引入机器视觉技术可以提高并联机械手的智能化和定位的精准化.