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font-size: 11pt;"> </span><span style="line-height: 11pt; text-indent: 0pt; font-family: 宋体; letter-spacing: 0pt; font-weight: bold; font-size: 11pt;">本课题的主要研究内容</span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">本文以具有代表性、应用广泛的高速并联工业机器人一一</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">为研宄对象，根据 该机器人的设计要求以及总体技术标准，对其进行深入的分析，将其功能技术指标进行 合理的分解，并从机械设计、硬件系统搭建以及软件算法编写等方面进行具体研宄。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">本课题的主要研宄内容：</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">⑴对平面两自由度高速并联工业机器人</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">进行机构学分析，阐述其机构特点， 并对其进行运动学逆解和正解分析以及简化的动力学分析，为机器人的运动学 轨迹规划和动力学轨迹优化做准备。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">⑵对平面两自由度高速并联工业机器人</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">进行工作空间分析和奇异位形分析, 得到其理论工作空间和奇异位形，为机器人的轨迹规划中，在工作空间内选取 合理的轨迹路径做准备。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">⑶对机器人轨迹规划的样条函数进行阐述，指出通常情况下，轨迹规划方法的不 足。选择合理的样条函数，在理论工作空间内，避开机器人的奇异位形，利用 平面两自由度高速并联工业机器人</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">的运动学逆解和正解对其进行合理的 轨迹规划，包括关节空间轨迹规划、工作空间轨迹规划、混合空间轨迹规划，并利用动力学模型对轨迹规划结果进行相应的优化，以得到最优的具有良好运 动学和动力学性能的轨迹规划结果。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 0pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">⑷对离线轨迹规划和实时在线轨迹规划特点及其相应的应用场合进行合理的阐述。 ⑶对平面两自由度高速并联工业机器人</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Delta</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">的运动控制系统</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">ROS</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(机器人操作 系统</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Robot</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Operation</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">System</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">)</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">进行阐述，为了对三种轨迹规划结果的实际应用 价值进行评估，从</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">Copley</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">驱动器中读取了直驱力矩电机的实际运行参数，并从 结果分析中得到了轨迹规划具有较好参考价值的结论。考虑到机器人的人性化 问题，为了简化机器人的实际操作，编写了机器人的运动控制</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">GUI</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">界面，并对 其进行简要说明。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(1) </span><!--[endif]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">对该课题的研究内容和成果进行分析总结，对课题的后续工作、理论研宄问题 和技术发展方向进行展望。</span></p> <p class="NewStyle18" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"> </p> <p class="NewStyle18" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“高速并联工业机械手臂分析设计与实现”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span></p> <p class="NewStyle18" style="margin-left: 18pt; text-indent: -18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a href='/index.php?case=tag&act=show&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>数控加工中心</a> <a href='/index.php?case=tag&act=show&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> 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