機(jī)械手_外文文獻(xiàn)及翻譯-展示頁
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【正文】 r is analyzed. Simulation of the parallel manipulator with modelbased controller is executed in MATLAB/Simulink, the simulation results indicate the modelbased controller can reduce the influence of load variety of platform and eliminate steady state error of 6DOF hydraulic driven parallel manipulator. 性能的六自由度并聯(lián)機(jī)器人控制方案分析。 Modelbased Control for 6DOF Parallel Manipulator 基于模型的控制六自由度并聯(lián)機(jī)器人 Abstract 摘要 A novel modelbased controller for sixdegreeoffreedom (DOF) parallel manipulator is proposed in this paper,in order to abatement the influence of platform load variety and pel the steady state errors converge to zero 一種新的基于模型的控制器的六自由度并聯(lián)機(jī)器人（自由度）提出，以便消除影響平臺負(fù)載的品種和迫使穩(wěn)態(tài)誤差收斂到零 In this paper, 6DOF parallel manipulator is described as multirigidbody systems, the mathematical model of the 6DOF parallelmanipulator including dynamics based on Kane method and kinematics used closedform solutions and NewtonRaphson method is built in generalized coordinate system. 在本文中，六自由度并聯(lián)機(jī)器人被描述為多剛體系統(tǒng)，數(shù)學(xué)模型的六自由度并聯(lián)機(jī)器人基于凱恩方法包括動力學(xué)和運(yùn)動學(xué)使用封閉形式的解決方案和牛頓迭代法是建立在廣義坐標(biāo)系統(tǒng)。 The modelbased controller is presented with the feedback of cylinders positions of platform, desired trajectories and dynamics gravity as the input and the servovalve current as its output. 基于模型的控制器是與氣缸位置反饋平臺，所需的軌跡和動態(tài)重力作為輸入和輸出的伺服閥電流。模擬的并行機(jī)器人控制器中執(zhí)行基于模型仿真，仿真結(jié)果表明，基于模型的控制器可以減少的影響，負(fù)荷變化的平臺和消除穩(wěn)態(tài)誤差的液壓驅(qū)動六自由度并聯(lián)機(jī)器人。 modelbased control。 kinematics 并聯(lián)機(jī)器人；基于模型的控制；動態(tài)–IC；運(yùn)動學(xué) INTRODUCTION 介紹 Parallel manipulator has been extensively studied due to its high forcetoweight ratio and widespread application [12]. 并聯(lián)機(jī)器人已被廣泛研究，由于其高動力重量比和廣泛的應(yīng)用 [ 1 2]。 Hunt [5] researched the kinematics of parallel manipulators based on screw 亨特 [ 5]研究了并聯(lián)機(jī)器人運(yùn)動學(xué)基于螺旋理論和列舉的有前途的運(yùn)動學(xué)結(jié) theory and enumerated promising kinematics structures. 構(gòu)。 Nguyen et al. [7] have developed a jointspace adaptive control scheme applied to an electromechanically driven Stewart platform using Lyapunov direct method. 阮等人 [ 7]已經(jīng)制定了一個空間自適應(yīng)控制方案應(yīng)用于機(jī)電驅(qū)動斯圖爾特平臺利用李雅普諾夫直接方法。 Hatip and Ozgoren [9] developed a dynamic control strategy for Stewart platform. hatip和 ozgoren [ 9 ]提出了動態(tài)控制策略斯圖爾特平臺 Noriega et al. [10]presented a neural work control scheme and showed its superiority over a kinematics control. 諾列加等人 [ 10]提出了一個神經(jīng)網(wǎng)絡(luò)控制方案， 在運(yùn)動控制方面 顯示出其優(yōu)越性 Davliakos et al [11] developed operational error joint feedback control scheme embedding the forward kinematics in the feedback control loop for 6DOF electrohydraulic Parallel manipulator platforms. davliakos等人 [ 11 ]開發(fā)操作誤差反饋控制方案嵌入關(guān)節(jié)運(yùn)動學(xué)在反饋控制回路的六自由度并聯(lián)機(jī)器人平臺電液。 [ 12]研究和應(yīng)用的一個高速度跟蹤控制的六自由度電動驅(qū)動的斯圖爾特平臺的使用增強(qiáng)的滑?？刂品椒?。 The forward kinematics and inverse kinematics models are described with NewtonRaphson method and closedform solution. 正運(yùn)動學(xué)和逆運(yùn)動學(xué)模型描述的牛頓迭代法和解析解。 In analytical, the steady state errors converge asymptotically to zero, independent of load variation. 在分析，穩(wěn)態(tài)誤差漸近收斂于零，獨(dú)立的負(fù)載變化。 MATHEMATICAL MODEL 數(shù)學(xué)模型 The 6DOF hydraulic driven parallel manipulator consist of a fixed base (down platform) and a moveable platform (upper platform) with six cylinders supporting it, all the cylinders are connected with movement platform and base with Hooke joints, as shown in Fig. 1. 六自由度液壓驅(qū)動并聯(lián)機(jī)器人包括一個固定基地（下）和一個可移動的平臺（平臺）六缸支持它，所有氣缸的運(yùn)動平臺和基地連接萬向接頭，如圖 1所示。液壓驅(qū)動六自由度并聯(lián)機(jī)器人 A. Kinematics Model Kinematics is the science of motion that treats the subject without regard to the forces that cause it [13], the kinematics of 6DOF parallel manipulator include inverse kinematics and forward kinematics, forward kinematics is used to solve the generalized c
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