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所要研究的对象是一种由2RRU/RUU并联机构和RP串联机构组成的五自由度混联机器人,它适用于一条自动化生产线上,用来完成物料的抓取和搬运工作。该机器人既有串联机器人工作空间大的优点,又有并联机器人刚度大、精度高的优点,但是这也增加了其动力学分析的难度。我们首先采用有限元分析软件对其进行了模态分析、谐响应分析等动态性能分析,接着采用牛顿-欧拉法推导出该模型的动力学方程,并借助MATLAB软件进行了动力学仿真,验证了建模的正确性。
The subject to be studied is a five-degree-of-freedom hybrid robot consisting of a 2RRU / RUU parallel mechanism and an RP tandem mechanism, which is suitable for an automated production line to perform material grasping and handling. This robot not only has the advantage of large working space in series robot, but also has the advantages of high rigidity and high precision of parallel robot, but it also increases the difficulty of dynamic analysis. We first use the finite element analysis software to carry out the modal analysis, harmonic response analysis and other dynamic performance analysis, followed by Newton-Euler method to derive the model kinetic equation, and the use of MATLAB software dynamics simulation, verification The correctness of modeling.