文献类型：期刊文献

中文题名：基于直线电动机的3-PSS并联机器人机构设计与仿真分析

英文题名：Mechanism Design and Simulation Analysis of 3-PSS Robot Based on Linear Motors

作者：朱祺珩[1];尹凝霞[1];魏远鹏[1];黄恒威[1];王翔宇[1]

机构：[1]广东海洋大学机械与动力工程学院,广东湛江524088

年份：2021

期号：11

起止页码：111

中文期刊名：机械工程师

外文期刊名：Mechanical Engineer

基金：广东海洋大学大学生创新创业项目(CXXL2019196)。

语种：中文

中文关键词：直线电动机;并联机器人;运动学分析;轨迹规划;Adams仿真

外文关键词：linear motor;parallel robot;kinematics simulation;Adams simulation

中文摘要：为充分发挥并联机器人结构稳定、承载能力强、累积误差小、响应快的优点,设计了一种基于直线电动机的3-PSS并联机器人。首先,建立3-PSS并联机器人运动学模型,根据运动学模型建立机器人坐标系,进而对其进行运动学和动力学分析和对末端执行器的运动轨迹进行规划;然后利用Adams对机器人运动学和动力学进行多方面仿真分析,仿真结果表明,此机器人的速度、加速度和位移曲线无拐点,运行平稳,适用于高速生产工作,进一步验证了机器人设计的可行性,为移动输入式机器人结构设计提供依据。

外文摘要：In order to give full play to the advantages of the parallel robot such as stable structure,strong bearing capacity,small cumulative error and fast response,a 3-PSS parallel robot based on linear motor is designed.Firstly,the kinematics model of 3-PSS parallel robot is established,and the robot coordinate system is established according to the kinematics model,then the kinematics and dynamics analysis of the parallel robot is carried out,and the motion trajectory of the end-effector is planned.Then the kinematics and dynamics simulation of the robot is carried out by Adams software,and the situation of the robot is varied.The simulation results show that the curve of robot's speed,acceleration and displacement have no inflection point,which indicate that the robot runs smoothly and is suitable for high-speed production,and further verify the feasibility of the robot design.The results provide the basis for mobile input type robot structure design.