MATLAB3-rps并联机器人动力学仿真，运动学仿真控制，simulink simscape
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MATLAB3-rps并联机器人动力学仿真，运动学仿真控制，simulink simscape <link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/base.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90240488/2/raw.css" rel="stylesheet"/><div id="sidebar" style="display: none"><div id="outline"></div></div><div class="pf w0 h0" data-page-no="1" id="pf1"><div class="pc pc1 w0 h0"><img alt="" class="bi x0 y0 w1 h1" src="/image.php?url=https://csdnimg.cn/release/download_crawler_static/90240488/bg1.jpg"/><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0">标题<span class="ff2">：<span class="ff3">MATLAB<span class="_ _0"> </span></span></span>实现并联机器人动力学仿真与控制的研究</div><div class="t m0 x1 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0">摘要<span class="ff2">：</span></div><div class="t m0 x1 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0">并联机器人具有高刚性<span class="ff4">、</span>高精度等优点<span class="ff2">，</span>已广泛应用于工业自动化领域<span class="ff4">。</span>本文基于<span class="_ _1"> </span><span class="ff3">MATLAB<span class="_ _0"> </span></span>平台<span class="ff2">，</span>探</div><div class="t m0 x1 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0">讨了并联机器人的动力学仿真和运动学仿真控制方法<span class="ff4">。</span>通过<span class="_ _1"> </span><span class="ff3">Simulink<span class="_ _0"> </span></span>和<span class="_ _1"> </span><span class="ff3">Simscape<span class="_ _0"> </span></span>工具箱的结合</div><div class="t m0 x1 h2 y5 ff1 fs0 fc0 sc0 ls0 ws0">运用<span class="ff2">，</span>建立了仿真模型并进行了仿真验证<span class="ff4">。</span>本文总结了实验结果<span class="ff2">，</span>并提出了未来的改进方向<span class="ff2">，</span>为并联</div><div class="t m0 x1 h2 y6 ff1 fs0 fc0 sc0 ls0 ws0">机器人的动力学仿真与控制提供了参考<span class="ff4">。</span></div><div class="t m0 x1 h2 y7 ff3 fs0 fc0 sc0 ls0 ws0">1.<span class="_ _2"> </span><span class="ff1">引言</span></div><div class="t m0 x1 h2 y8 ff1 fs0 fc0 sc0 ls0 ws0">并联机器人是一种灵活<span class="ff4">、</span>精确的机器人系统<span class="ff2">，</span>可广泛应用于工业制造<span class="ff4">、</span>医疗协助和科研领域<span class="ff4">。</span>了解并</div><div class="t m0 x1 h2 y9 ff1 fs0 fc0 sc0 ls0 ws0">联机器人的动力学和运动学是研究该系统的关键<span class="ff4">。</span></div><div class="t m0 x1 h2 ya ff3 fs0 fc0 sc0 ls0 ws0">2.<span class="_ _2"> </span><span class="ff1">并联机器人的动力学建模与仿真</span></div><div class="t m0 x1 h2 yb ff3 fs0 fc0 sc0 ls0 ws0">2.1.<span class="_"> </span><span class="ff1">动力学基础理论</span></div><div class="t m0 x1 h2 yc ff3 fs0 fc0 sc0 ls0 ws0">2.1.1.<span class="_"> </span><span class="ff1">并联机器人的运动学分析</span></div><div class="t m0 x1 h2 yd ff3 fs0 fc0 sc0 ls0 ws0">2.1.2.<span class="_"> </span><span class="ff1">并联机器人的动力学分析</span></div><div class="t m0 x1 h2 ye ff3 fs0 fc0 sc0 ls0 ws0">2.2.<span class="_"> </span><span class="ff1">并联机器人的动力学建模</span></div><div class="t m0 x1 h2 yf ff3 fs0 fc0 sc0 ls0 ws0">2.2.1.<span class="_"> </span><span class="ff1">惯性参数的确定</span></div><div class="t m0 x1 h2 y10 ff3 fs0 fc0 sc0 ls0 ws0">2.2.2.<span class="_"> </span><span class="ff1">运动方程的建立</span></div><div class="t m0 x1 h2 y11 ff3 fs0 fc0 sc0 ls0 ws0">2.3.<span class="_"> </span><span class="ff1">并联机器人的动力学仿真</span></div><div class="t m0 x1 h2 y12 ff3 fs0 fc0 sc0 ls0 ws0">2.3.1.<span class="_"> </span>MATLAB<span class="_ _0"> </span><span class="ff1">的仿真环境介绍</span></div><div class="t m0 x1 h2 y13 ff3 fs0 fc0 sc0 ls0 ws0">2.3.2.<span class="_"> </span>Simulink<span class="_ _0"> </span><span class="ff1">工具箱的应用</span></div><div class="t m0 x1 h2 y14 ff3 fs0 fc0 sc0 ls0 ws0">2.3.3.<span class="_"> </span>Simscape<span class="_ _0"> </span><span class="ff1">工具箱的应用</span></div><div class="t m0 x1 h2 y15 ff3 fs0 fc0 sc0 ls0 ws0">2.4.<span class="_"> </span><span class="ff1">实验结果与分析</span></div><div class="t m0 x1 h2 y16 ff3 fs0 fc0 sc0 ls0 ws0">2.4.1.<span class="_"> </span><span class="ff1">运动学仿真结果分析</span></div><div class="t m0 x1 h2 y17 ff3 fs0 fc0 sc0 ls0 ws0">2.4.2.<span class="_"> </span><span class="ff1">动力学仿真结果分析</span></div><div class="t m0 x1 h2 y18 ff3 fs0 fc0 sc0 ls0 ws0">3.<span class="_ _2"> </span><span class="ff1">并联机器人的控制方法研究</span></div><div class="t m0 x1 h2 y19 ff3 fs0 fc0 sc0 ls0 ws0">3.1.<span class="_"> </span><span class="ff1">控制基础理论</span></div><div class="t m0 x1 h2 y1a ff3 fs0 fc0 sc0 ls0 ws0">3.1.1.<span class="_"> </span>PID<span class="_ _0"> </span><span class="ff1">控制原理</span></div><div class="t m0 x1 h2 y1b ff3 fs0 fc0 sc0 ls0 ws0">3.1.2.<span class="_"> </span><span class="ff1">运动控制方法</span></div><div class="t m0 x1 h2 y1c ff3 fs0 fc0 sc0 ls0 ws0">3.2.<span class="_"> </span><span class="ff1">并联机器人的控制方法</span></div><div class="t m0 x1 h2 y1d ff3 fs0 fc0 sc0 ls0 ws0">3.2.1.<span class="_"> </span><span class="ff1">位置控制</span></div><div class="t m0 x1 h2 y1e ff3 fs0 fc0 sc0 ls0 ws0">3.2.2.<span class="_"> </span><span class="ff1">力控制</span></div><div class="t m0 x1 h2 y1f ff3 fs0 fc0 sc0 ls0 ws0">3.3.<span class="_"> </span><span class="ff1">控制策略的仿真验证</span></div><div class="t m0 x1 h2 y20 ff3 fs0 fc0 sc0 ls0 ws0">3.3.1.<span class="_"> </span><span class="ff1">控制器设计与实现</span></div><div class="t m0 x1 h2 y21 ff3 fs0 fc0 sc0 ls0 ws0">3.3.2.<span class="_"> </span><span class="ff1">仿真结果与分析</span></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>