Delta并联机器人运动学与动力学仿真研究

摘要

Based on Delta parallel robot,its model is established by the Pro/E software.Through simplifying the institutional model,the kinematic equations are established by D-H matrix method,and the trajectory is planned according to the given motion trail of the moving platform.Then the drive angle of each branched chain is calculated in Matlab,so that the model and the calculation results are imported to ADAMS with constraint and drive added.Finally,the kinematics and dynamics are analyzed through simulation.According to the consistency of the theoretical result and the realistic result,the reference bases are provided for the Delta parallel robot design,optimization and motion control.%以Delta并联机器人为研究对象,用三维设计软件Pro/E建立其样机模型,通过简化Delta并联机器人机构模型,用D-H矩阵法建立其运动学方程,得出正、逆解,给定动平台的运动轨迹进行轨迹规划,用Matlab软件计算出各支链的驱动臂张角,将样机模型和计算结果导入到ADAMS软件中,添加约束驱动等,进行运动学和动力学仿真分析,所得结果与理论计算结果一致,为Delta并联机器人的设计、优化和运动控制提供依据.