基于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．ZoomlionCo．，LTD，Changsh

2、a410000，ChinaAbstract：ThispaperisconcernedwiththepracticalapplicationstudyofapneumaticallyactuatedStewart-Goughplatformwith6-degreesoffreedom(6-DOF)．Consideringthecharacteristicsofthepneumaticallyactuated6-DOFparallelrobot，themathematicalmodelofpneumaticservosys-ternisestablished，and

3、SimMechanicsmoduleisalsointroducedtobuildthemechanicalmodelofthepneumaticallyactuated6一DOFparallelrobot．Themodelingofpneumatic-mechanicalsyste-moftheparallelrobotavoidsthecomplexmodelingprocessofStewartplatform．Simulationandtestprocessesarecarried．Theprocessesshowthatthetestresultsco

4、rrelatewellwiththesimu-lationresult，andthesimulationmodelcanbeusedtodescribetherealmotionofthe6-DOFpar-allelrobot．Theefectofpneumaticservocontrolsystemisachieved．Keywords：6-DOFparallelrobot，pneumaticalyactuated，servo，SimMechanics．Consideringthecharacteristicofpneumaticsystem，1．Introd

5、uctionthemathematicalmodelofpneumaticservosystemisestablished．Thesimulationmodelofthewholepneu—Thefirstprototypeofthe6-DOFparallelmecha—matic．mechanicalsystemisbuildupandverifiedbynismwasfirstintroducedbyGoughandWhitehal—someexperiments．Pneumaticallyactuated6．DOFlasatyre—testingmachi

6、ne．Sincethen，awidevarietyparallelrobotissuretohaveawidedevelopmentofmechanismshavebeenbenefitedfromthisdesign．spaceinthefuture『5]．Owningtotheadvantagesofrapidresponsespeed，bigstiffness，strongbearingcapacityandhavingno2．Pneumaticallyactuated6-DOFparallelaccumulativeerror，theparallelro

7、botsarewidelyap—robotpliedinallkindsoftrainingsimulators，shipandsubmarinedockingplatforms，parallelmachinetools，Thepneumaticallyactuated6一DOFparallelrobotdexterousrobotsanddynamicmovieorentertainmentmainlyincludestheupperplatform，thelowerplat—equipment[1—3]．However，whatarewidelyusedfo

8、rm，theupperh