Delta并联机器人系统总体设计

计算了机器人的自由

度，

位置正反解，

并分析了它的空间奇异形位。

还通过分析比较几种控制器

和方案，

选择其中 最适合的方案。

并设计了

delta

机 器人的控制电路，

并详

细介绍它的控制器功能。

关键词

：

并联机构

位置反解

步进电机

结构设计

I

燕山大学本科生毕业设计（论文）

Abstract

In recent years ,increased interest in parallel robots has been

observed..Parallel

robots

possess

a

number

of

advantages

when

compored to serial

arms, The most importantone is certainly the

possibility to keep the motors fixed into the base ,thus allowing a

large

reduction

of

the

robot

structure

’

s

active

mobile

g

the motors on the robot base is a requairment when direct-drive is

used

,thus

,parallel

robots

are

well

suited

to

direct- drive

r

advantage

of

parallel

robots

is

their

high

features

allow

more

precise

and

much

faster

mani

pulations. The delta parallel robot is very famous among them.

In this paper,the historyapplication character of the parallel

robots

are

introduced

.And

I

compted

the

degree

of

free

of

the

parallel

robot,analysis

the

singular

position.

The

position

solution

and

position inverse solution too. At last, there are several methords

of controlling. And I choice one of then which is better suited to

this robot. This method will be introduced latter.

Key

word:

parallel

delta,

position

inverse

solution

,

singular

position

II

目

录

摘要

.< /p>

........................................ .................................................. ............................ I

Abstract .............................. .................................................. ................................

I

I

第

1

章

绪论

.

.. .................................................. .................................................. . 1

1.1

国内外串、并联机器人 的研究现状

.

.......... ........................................ 1

1.2

针对

DELTA

机器人的研究成果

............. ................................................ 4

1.3

DELTA

机器人的发展趋势

.

......................................... ............................ 5

1.4

论文主要完成的工作

.................. .................................................. ...... 7

第

2

章

delta

机器人的结构设计

.

......................................... ........................... 8

2.1

DELTA

机器人的总体结构设计

.

....................................... ...................... 8

2.2

上顶板

........................ .................................................. ........................ 8

2.3

上臂

.

...................................... .................................................. .............. 9

2.4

L

形板的设计

.......... .................................................. ......................... 10

2.5

下底板支撑架的设计

.................. .................................................. .....

1

1

2.6

机械手的确定

..................... .................................................. ..............

1

1

2.7

电机的选取

...................... .................................................. ................ 13

2.8

减速器的选择与计算计算

................ ................................................ 14

2.9

轴承的计算

...................... .................................................. ................ 15

2.10

本章小结

....................... .................................................. ................. 16

第

3

章

电气控制系统设计

.

.............................................. ............................... 17

3.1

概述

.................................................. .................................................. 17

3.2

DELTA

机器人控制系统模型

.< /p>

........................................ ....................... 17

3.3

运动控制方法的选取

.................. .................................................. .... 17

3.3.1

传统的控制方法

.

< br>............................................... ........................ 17

3.3.2

基于运动控制器的机器人控制系统

.

....................................... 18

3.4

DELTA

机器人控制系统的硬件组成

.

..................................... .............. 18

3.4.1

通用

Galil DMC

一

多轴运动控制器

.

............................. 18

3.4.2

功率放大器

.

................................................. .............................. 19

3.4.3

增量式编码器

.

............................... ............................................ 20

III

燕山大学本科生毕业设计（论文）

3.5

运动控制器和运动控制卡的区别

............. ........................................

2

0

3.6

本章小结

.

.................................... .................................................. .......

2

0

结论

.

.. .................................................. .................................................. ..............

2

2

参考文献

.

.................................................. .................................................. ........

2

3

致谢

.

.. .................................................. .................................................. ..............

2

5

附录

1

.< /p>

........................................ .................................................. .......................

2

6

附录

2

.< /p>

........................................ .................................................. .......................

3

2

附录

3

.< /p>

........................................ .................................................. .......................

3

8

IV

第

1

章

绪论

第

1

章

绪论

1.1

国内外串、并联机器人的研究现状

现在国际上对工业机器人的 应用比较成熟，

尤其是在辐射污染大，

复杂

难以施工和巨大沉重的工件难以使用人力的环境，

往往机器人成为最好的选