5-DOF混联雕刻机速度运动学分析及仿真

doi:10.16180/j.cnki.issn1007-7820.2020.04.008

Abstract

Abstract:

5-DOF hybrid robot has become an important research direction because of its advantages of both serial and parallel robots. In the process of controlling the 5 degrees of freedom and the series engraving machine, solving the transmission of velocity and acceleration between the input and the end position is the key point and difficulty of the research. In this paper, the degree of freedom of the carving machine was analyzed by the mechanism topology theory. Then the kinematics of the end of the carving machine was inversely analyzed by the vector method. The kinematics of the slider of the carving machine was analyzed by the derivation method. Finally, the validity of the speed kinematics analysis and the effectiveness of the algorithm were verified through MATLAB and ADAMS simulation analysis. This result provided a reference for the actual control programming of the 5-DOF hybrid robot.

Key words: hybrid robot, mechanism topology, vector method, derivative method, velocities, accelerations, MATLAB, ADAMS

CLC Number:

TP242.3

ZHANG Daoyi,SAN Hongjun,CHEN Jiupeng,LI Pengfei,XIONG Binzhou. Velocity Kinematics Analysis and Simulation of 5-DOF Hybrid Engraving Machine[J].Electronic Science and Technology, 2020, 33(4): 42-49.

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Velocity Kinematics Analysis and Simulation of 5-DOF Hybrid Engraving Machine

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