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针对气压伺服式6自由度并联机器人的特点,首先对气压伺服系统进行建模分析,然后利用SimMechanics对气动6自由度并联机器人的机械模块进行建模,并对并联机器人整体进行气动-机械建模,此建模方法避免了Stewart平台复杂的建模过程。进行仿真分析和实验研究,结果表明:仿真数据与实验结果相符,仿真模型较能真实的模拟6自由度并联机器人的运动,并且气动也能达到伺服控制的效果。
According to the characteristics of the pneumatic servo 6-DOF parallel robot, firstly, the pneumatic servo system is modeled and analyzed, and then the mechanical modules of the 6-DOF parallel robot are modeled by SimMechanics, and the aerodynamic-mechanical modeling of the parallel robot is carried out , This modeling method avoids the complex modeling process of the Stewart platform. The results of simulation and experiment show that the simulation data are in good agreement with the experimental results, and the simulation model can simulate the motion of a 6-DOF parallel robot in real life. And the pneumatic control can achieve the effect of servo control.