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基于SolidWorks & SimMechanics对3UPU并联机器人运动学仿真及控制
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国家自然科学基金资助项目(51165009;51105077);中国博士后科学基金资助项目(2013M541874);江西省自然科学基金资助项目(GJJ14422)


Research of Kinematics Simulation of 3UPU Parallel Manipulator and Control System Based on SolidWorks & SimMechanics
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    摘要:

    基于螺旋理论,对3UPU型并联机器人运动特性进行分析,运用SolidWorks软件建立机构模型,通过模型转换接口技术实现3UPU型并联机器人SimMechanics可视化建模。并进行模糊PID控制系统设计,结合可视化模型实现3UPU型并联机器人系统仿真。通过与传统PID控制仿真对比研究表明: 3UPU型并联机器人模糊PID控制系统具有控制精度高、响应速度快、动态性能好等优点,为少自由度并联机器人的可视化和控制系统研究等方面奠定理论研究基础。

    Abstract:

    Based on screw theory,the kinematics characteristics of 3DOF parallel manipulator was analyzed,and its mechanism model was also established by SolidWorks software.By using the model transformation interface technology,the visualization model of 3UPU parallel manipulator in SimMechanics was achieved.Furthermore,the fuzzy PID control system was designed.Combined the control system with the visualization model of 3UPU parallel manipulator,the system simulation was achieved.Compared with conventional PID control,simulation results shows that fuzzy PID control system of 3UPU parallel manipulator has advantages about high control accuracy,faster response,and good dynamic performance and so on.The studies of visualization and control system are valuable for theoretical research of lowDOF 〖BF〗mine’s〖BFQ〗 parallel manipulator.

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宋马军,陈健伟,张荣兴,朱城伟.基于SolidWorks & SimMechanics对3UPU并联机器人运动学仿真及控制[J].机床与液压,2015,43(21):13-18.
. Research of Kinematics Simulation of 3UPU Parallel Manipulator and Control System Based on SolidWorks & SimMechanics[J]. Machine Tool & Hydraulics,2015,43(21):13-18

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  • 在线发布日期: 2016-01-08
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