项目名称: 高速并联机器人动态精度控制方法研究
项目编号: No.51305293
项目类型: 青年科学基金项目
立项/批准年度: 2014
项目学科: 机械、仪表工业
项目作者: 王攀峰
作者单位: 天津大学
项目金额: 25万元
中文摘要: 高速并联机器人在食品、包装、医药、新能源等行业自动化生产线中具有广阔的应用前景, 动态精度是这类机器人系统的重要性能指标。本课题以外转动副驱动、含平行四边形支链的新型4自由度SCARA运动高速并联机器人为对象,研究这类系统精准动力学建模、时间最优轨迹规划、动力学前馈控制,输出轨迹修形与输入变量整形抑振等旨在提高系统动态精度的控制理论与关键技术,并在开放式控制平台和物理样机上开展相关实验研究,验证所提出理论与方法的正确性与有效性,以期为有效提高这类系统的动态定位精度和轨迹跟踪精度,进而促进其在实际工程中的应用奠定重要的理论与技术基础。
中文关键词: 高速并联机器人;轨迹规划;前馈控制;输入整形;动态精度
英文摘要: High-speed parallel robots have been found wide application in food, packaging. pharmaceutical, and new energy as well as many other industrial sectors. Dynamic accuracy is one of important performance indices of the robots of this kind. By taking a novel 4-DOF SCARA motion parallel robot as a case study, this project deals with dynamic modeling, time optimal trajectory planning, feed forward control, residual vibration suppression via trajectory shaping and input shaping, etc. for reducing the dynamic positioning and trajectory following errors when they are running at high-speed and high acceleration. Experiments will be carried out on an open-architecture CNC controller and a prototype machine to verify the effectiveness of the proposed theory and methodologies. The outcomes will lay a solid foundation for the development of the high-speed and high-precision parallel robots for industrial uses.
英文关键词: High speed parallel robot;trajectory planning;feedforward control;input shaping;dynamic accuracy