新型高速抓取并联机器人平台的设计与分析
Design and Analysis of a New High-Speed Grasping Parallel Robot Platform
摘要: 并联机器人具有运动精度高，累计误差小，刚度大等特点，因此在航空航天，医疗器械，工业生产，食品包装等行业中得到广泛的应用。本文设计了一种3-RRPaR高速抓取并联机器人平台。首先对机器人平台的结构进行设计，确定了各部件的尺寸形状以及连接方式，建立了高速抓取并联机器人平台的三维模型；根据所需力矩对机器人的驱动装置进行选型，通过Adams进行虚拟样机仿真，对其运动学以及考虑弹性的动力学进行求解分析，得到了各杆件的变形分布以及各方向误差。最后对机构的关键部位进行有限元仿真，以保证机构在高速运动过程中的安全性和稳定性。
Abstract: Parallel robot has the characteristics of high motion accuracy, small cumulative error and large stiffness. Therefore, it is widely used in aerospace, medical devices, industrial production, food packaging and other industries. In this paper a 3-RRPaR high-speed grasping parallel robot plat-form is designed. Firstly, the structure of each component and the connection are determined. Then, the three-dimensional model of high-speed grasping parallel robot platform is established. According to the required moment, the driving device of the robot is selected. Through Adams virtual prototype simulation, its kinematics and dynamics considering elasticity are analyzed, and the deformation distribution and direction error of each member are obtained. Finally, the key parts of the mechanism are simulated by finite element method to ensure the safety and stability of the mechanism in the process of high-speed movement.
文章引用：盛永超, 李跃文, 贾永皓, 杨通. 新型高速抓取并联机器人平台的设计与分析[J]. 动力系统与控制, 2019, 8(1): 28-39. https://doi.org/10.12677/DSC.2019.81004

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