空间3-dof柔性微动操控平台的设计和分析

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1、空间3-DOF柔性微动操控平台的设计和分析andoptimization.Workspacesizeisrestrictedbymaximumelongationofdrivenrod,angleofmotionpairofconditionsandmutualinterferenceofbarandions.Thethesisisestablishedonapolarcoordinatesearchmethodtofindtheflexibleparallelrobotworkspace.Theresultof

2、simulationshowsthattheflexibleparallelrobot’sworkspaceisintherangeof13.6mm╳13.4mm╳2mm.Itmeetstherequiredmicron-metregradeprecision,andcanbeusedinmicro-manipulationfield.Finally,elasticdeformationofcomponentanddrivingfactorssuchasjointinternalfriction,makethes

3、ystemcannotbeaccurateatpredeterminedtrajectory.Inordertoimprovethemovementprecisionofflexibleparallelrobots,thisthesisproposesafuzzyPIDcontrollerforjointspacealgorithm.Afterdoingthesimulinksimulationexperimentforthisalgorithm,theexperimentresultsshowthatthism

4、ethodisahighaccuracycontrolalgorithmandhasagoodtrackingperformance.KeyWords:3-RPS;FlexibleParallelRobot;FlexibleJoint;ANSYS;Workspace;FuzzyPIDControl;IV工程硕士毕业论文目录学位论文原创性声明和学位论文版权使用授权书..........................................................I摘要...............

5、........................................................................................................................IIAbstract.................................................................................................................................

6、.III目录.........................................................................................................................................V第1章绪论..............................................................................................................

7、..........11.1课题研究的背景和意义..........................................................................................11.2并联机器人概述.......................................................................................................11.2.1机器人与机器人学.................

8、......................................................................11.2.2并联机器人....................................................................................................31.2.3