| 三自由度气动并联平移机器人平台的设计 |
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| 引用本文： | 王波,王涛,朱爱东.三自由度气动并联平移机器人平台的设计[J].实验技术与管理,2021(1):109-112. |
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| 作者姓名： | 王波 王涛 朱爱东 |
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| 作者单位： | ;1.北京理工大学自动化学院 |
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| 基金项目： | 北京理工大学2019年实验室研究项目(2019BITSYA 16)。 |
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| 摘 要： | 基于工业生产中广泛使用的高速并联机器人应用背景,设计了一种三自由度气动并联平移机器人平台。针对气动并联机器人平移运动的需求,设计驱动臂机构驱动机器人运动,设计辅助臂机构约束机器人的转动自由度。采用MATLAB和ADAMS对气动并联机器人进行运动学仿真。针对气动并联机器人平台系统的非线性和不确定外扰,采用线性自抗扰控制算法进行机器人运动控制。利用该平台进行实验教学,可以培养学生的分析、综合、设计、探索和创新能力,提高学生的工程素养。
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| 关 键 词： | 气动并联机器人 平移运动 运动学仿真 线性自抗扰控制 |
Design of three-degree freedom pneumatic parallel translational robot platform |
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| WANG Bo,WANG Tao,ZHU Aidong.Design of three-degree freedom pneumatic parallel translational robot platform[J].Experimental Technology and Management,2021(1):109-112. |
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| Authors: | WANG Bo WANG Tao ZHU Aidong |
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| Institution: | (School of Automation,Beijing Institute of Technology,Beijing 100081,China) |
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| Abstract: | Based on the application background of high-speed parallel robot widely used in industrial production, a 3-degree freedom pneumatic parallel translation robot platform is designed. In order to meet the requirements of translational motion of pneumatic parallel robot, the driving arm mechanism was designed to drive the robot motion, and the auxiliary arm mechanism was designed to constrain the rotational freedom of the robot. MATLAB and ADAMS are used to simulate the kinematics of pneumatic parallel robot. Aiming at the nonlinear and uncertain external disturbances of the pneumatic parallel robot platform system, the linear active disturbance rejection control algorithm is used to control the robot motion. This platform can be used for experimental teaching to cultivate students’ ability of analysis, synthesis, design, exploration and innovation, and improve their engineering literacy. |
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| Keywords: | pneumatic parallel robot translational motion kinematics simulation linear active disturbance rejection control |
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