基于虚拟样机的DELTA并联机械手动力学仿真和伺服选型

摘要

通过编程逆解DELTA机械手最大运动空间轨迹；采用虚拟样机技术,利用ProE/Mechanism和ADAMS软件对DELTA并联机械手进行动力学仿真,对比验证机构仿真结果,得出驱动轴运动参数；在此基础上,提出一种伺服电机精确选型的新方法.所建立的虚拟样机模型也为DELTA机械手的研究提供了一个运动学分析和控制的平台.%Based on the maximum workspace path through programming inverse of DELTA manipulator, using virtual prototype technology, the kinematic simulation of DELTA parallel manipulator was realized by the software of ProE/Mechanism and ADAMS. The results of mechanism simulation were campared and the kinematic parameters of driving axle were obtained. On this basis, a new method of serve motor accurate selection was put forward. The established virtual prototype also provides a kinematic analysis and control platform for the research of DELTA parallel manipulator.