三自由度平面部分解耦并联机构的合成与控制

Q3 Engineering Journal of Mechanical Engineering Research and Developments Pub Date : 2019-08-29 DOI:10.26480/jmerd.05.2019.57.60

Vo Dinh Tung

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引用次数: 0

摘要

本文研究了一种新型平面并联机构，该机构的动能、控制器的设计。平移运动与旋转是分离的。综合了满足平移自由度和姿态自由度部分解耦的并联机器人控制算法。给出了控制算法在机器人末端执行器期望轨迹下的仿真结果。本文研究了奇异区相交时并联机器人的控制算法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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SYNTHESIS AND CONTROL 3-DOF PLANAR PARTLY DECOUPLED PARALLEL MANIPULATOR

This paper deals with a new planar parallel manipulator, kinetic energy of this mechanism, designing controller. The translation movements are decoupled from rotation. The control algorithm of parallel robot satisfying partial decoupling between translation and orientation degrees of freedom is synthesized. Simulation result of control algorithm in desired trajectory of end-effector of robot is shown. Here parallel manipulator control algorithm while intersecting singular zones is considered.

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来源期刊

Journal of Mechanical Engineering Research and Developments Engineering-Computational Mechanics

自引率

0.00%

发文量

审稿时长

9 weeks

期刊介绍： The scopes of the journal include, but are not limited to, the following topics: • Thermal Engineering and Fluids Engineering • Mechanics • Kinematics, Dynamics, & Control of Mechanical Systems • Mechatronics, Robotics and Automation • Design, Manufacturing, & Product Development • Human and Machine Haptics Specific topics of interest include: Advanced Manufacturing Technology, Analysis and Decision of Industry & Manufacturing System, Applied Mechanics, Biomechanics, CAD/CAM Integration Technology, Complex Curve Design, Manufacturing & Application, Computational Mechanics, Computer-aided Geometric Design & Simulation, Fluid Dynamics, Fluid Mechanics, General mechanics, Geomechanics, Industrial Application of CAD, Machinery and Machine Design, Machine Vision and Learning, Material Science and Processing, Mechanical Power Engineering, Mechatronics and Robotics, Artificial Intelligence, PC Guided Design and Manufacture, Precision Manufacturing & Measurement, Precision Mechanics, Production Technology, Quality & Reliability Engineering, Renewable Energy Technologies, Science and Engineering Computing, Solid Mechanics, Structural Dynamics, System Dynamics and Simulation, Systems Science and Systems Engineering, Vehicle Dynamic Performance Simulation, Virtual-tech Based System & Process-simulation, etc.