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面包屑導航結束 --> <!-- 頁面標題開始 --> <div id="n1l1njb9b" class="title"> <h3><a>elta 機器人機構學分析<small></small></a></h3> </div> <!-- 頁面標題結束 --> <hr class="featurette-divider"> <!-- 中部開始 --> <div id="n1l1njb9b" class="container"> <!-- 正文 --> <div id="n1l1njb9b" class="lead" id="print"> <p> <span style="font-family: 宋體; font-size: 11pt; letter-spacing: 0pt; line-height: 23.3pt; text-indent: 18pt;">2 Delta 機器人機構學、運動學和動力學分析</span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">2.1 引言</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">本章將對</span><span id="n1l1njb9b" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">機器人機構學、運動學和動力學進行深入分析，其中機構學研宄中 主要介紹該機器人的結構特點、工作原理及其設計理念，與此同時，對機器人的工作空 間和奇異位形進行理論上的分析。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">運動學逆解、正解分析是對機器人進行軌跡規劃的基礎，動力學分析是提高機器人 運行速度和精度的有效手段，本文將采用拉格朗日方法對機器人進行動力學分析，以實 現下一章節中，運動學軌跡規劃與動力學軌跡優化相結合，以運動學中速度或者動力學 中關鍵部件受力情況為優化對象，從而達到降低機器人成本、提高運行速度和機器人壽 命的目的。為了簡化</span><span id="n1l1njb9b" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Python</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">軟件編程的復雜性，對平面兩自由度高速并聯工業機器人 </span><span id="n1l1njb9b" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">動力學中影響較小的部分進行了簡化，簡化后的動力學模型可以滿足理論和工程 上的實際需求。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"> </span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">2.2 機構學分析</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span id="n1l1njb9b" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">機器人與其他的并聯機器人一樣，由靜平臺、動平臺和支鏈組成，它的巧妙之 處在于從動臂采用平行四邊形機構，由于平行四邊形機構能夠保證輸出端與輸入端的運 動相同，三個這樣的平行四邊形機構就約束了動平臺的三個轉動自由度，使得動平臺只 保留了三個純平動自由度</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[62]</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">本文所述的</span><span id="n1l1njb9b" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">兩自由度高速并聯工業機器人實物圖如圖</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">2-1</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">所示，其結構特點 是：機器人末端執行器只能在豎直平面內運動，為了保證末端執行器始終保持水平，在 右端主動臂和從動臂中采用了兩個平行四桿機構。</span><span id="n1l1njb9b" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">機器人的機械臂是鉸接型操作 臂，有時也稱為關節型操作臂，該類型的操作臂對角度誤差具有放大作用，即操作臂越 長末端執行器的誤差越大。為了從理論和實際中，減小</span><span id="n1l1njb9b" class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">機器人的運行誤差，同時， 提高機器人的運行速度和精度，采用兩臺高精度伺服直驅力矩電機并通過脹緊套與主動 臂直接連接，避免了由于減速器齒輪背隙產生的誤差，從原理上提高了機器人的精度， 該直驅力矩電機實物如圖</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">2-2</span><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;">所示。為了減輕機械手臂的質量，主動臂、從動臂、三角 臂、末端執行器均采用高強度的鋁合金板材或管材，并在主動臂和三角臂上開有減重孔。</span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"> </p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-size:9.0pt;font-family:宋體;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“高速并聯工業機械手臂分析設計與實現”，因為編輯困難導致有些函數、表格、圖片、內容無法顯示，有需要者可以在網絡中查找相關文章！本文由伯特利數控整理發表文章均來自網絡僅供學習參考，轉載請注明！</span></p> <p class="NewStyle17" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋體; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div id="n1l1njb9b" class="blank30"></div> <!-- tag --> <div id="n1l1njb9b" class="blank10"></div> 標簽： <a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>數控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E6%9C%BA%E5%BA%8A' target='_blank'>數控機床</a> <a 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