Delta并联机器人关节轨迹规划与联合仿真

Joint trajectory planning and co-simulation for Delta parallel robots

摘要:

并联机器人中存在刚性和柔性部分，且多个执行器同时运动，其建模与控制一直是难点；针对其建模与运动控制的难题，提出了一种优化加速度曲线用于并联机器人关节空间内的轨迹规划，优化搭建了并联机器人的联合仿真平台并进行实验验证；利用几何法对并联机器人进行运动学分析，推导设备在不同姿态时各关节点的坐标，得到其正、逆运动学模型与求解公式，在此基础上，优化加速度曲线以用于关节空间内的轨迹规划，实现对机构末端的运动控制；借助Solidworks、Adams软件建立其刚柔耦合的三维模型，结合Matlab软件优化搭建并联机器人的联合仿真平台；在联合仿真平台和Delta并联机器人上进行了门型轨迹拾取实验，仿真和实验结果验证了所提出方法的有效性。

Abstract:

There are rigid and flexible parts in the parallel robot, and multiple actuators move at the same time, and its modeling and control have always been difficult; for its modeling and motion control difficulties, an optimized acceleration curve is proposed for trajectory planning in the joint space of the parallel robot, and a joint simulation platform for the parallel robot is optimally constructed and experimentally verified; a kinematic analysis of the parallel robot is carried out by using geometrical method to deduce the The kinematic analysis of the parallel robot is carried out by using geometric method to derive the coordinates of the joints of the equipment in different attitudes, and obtain the forward and inverse kinematic models and solution formulas, on the basis of which, the acceleration curve is optimized to be used for trajectory planning in the joint space to realize the motion control of the end of the mechanism; the rigid-flexible coupling three-dimensional model is established with the help of Solidworks and Adams software, and the co-simulation platform for the parallel robot is built with optimization by combining with Matlab software. The co-simulation platform is optimized with Matlab software to build a parallel robot; the experiments of gate trajectory picking are carried out on the co-simulation platform and Delta parallel robot, and the simulation and experimental results verify the effectiveness of the proposed method.