浅析simmechanics的气动6自由度并联机器人的研究

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1、机床与液压Dec．2Ol3HydromechatronicsEngineeringV01．41No．24DOI：10．3969／j．issn．1001-3881．2013．24．013ResearchonPneumaticallyActuated6-DOFParallelRobotBasedonSimMechanicsLIUYingchao，LIJun，WANGWei．PneumaticTechnologyCenter，HarbinInstituteofTechnology，Harbin150001，China；2．ZoomlionC

2、o．，LTD，Changsha410000，ChinaAbstract：ThispaperisconcernedwiththepracticalapplicationstudyofapneumaticallyactuatedStewart-Goughplatformwith6-degreesoffreedom(6-DOF)．Consideringthecharacteristicsofthepneumaticallyactuated6-DOFparallelrobot，themathematicalmodelofpneumaticse

3、rvosys-ternisestablished，andSimMechanicsmoduleisalsointroducedtobuildthemechanicalmodelofthepneumaticallyactuated6一DOFparallelrobot．Themodelingofpneumatic-mechanicalsyste-moftheparallelrobotavoidsthecomplexmodelingprocessofStewartplatform．Simulationandtestprocessesareca

4、rried．Theprocessesshowthatthetestresultscorrelatewellwiththesimu-lationresult，andthesimulationmodelcanbeusedtodescribetherealmotionofthe6-DOFpar-allelrobot．Theefectofpneumaticservocontrolsystemisachieved．Keywords：6-DOFparallelrobot，pneumaticalyactuated，servo，SimMechanic

5、s．Consideringthecharacteristicofpneumaticsystem，1．Introductionthemathematicalmodelofpneumaticservosystemisestablished．Thesimulationmodelofthewholepneu—Thefirstprototypeofthe6-DOFparallelmecha—matic．mechanicalsystemisbuildupandverifiedbynismwasfirstintroducedbyGoughandWh

6、itehal—someexperiments．Pneumaticallyactuated6．DOFlasatyre—testingmachine．Sincethen，awidevarietyparallelrobotissuretohaveawidedevelopmentofmechanismshavebeenbenefitedfromthisdesign．spaceinthefuture『5]．Owningtotheadvantagesofrapidresponsespeed，bigstiffness，strongbearingca

7、pacityandhavingno2．Pneumaticallyactuated6-DOFparallelaccumulativeerror，theparallelrobotsarewidelyap—robotpliedinallkindsoftrainingsimulators，shipandsubmarinedockingplatforms，parallelmachinetools，Thepneumaticallyactuated6一DOFparallelrobotdexterousrobotsanddynamicmovieore

8、ntertainmentmainlyincludestheupperplatform，thelowerplat—equipment[1—3]．However，whatarewidelyusedform，theupperh