| 三自由度柔性并联机器人运动参数检测系统开发 |
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| 引用本文： | 张学涛,田阳,叶威,李双,柴艳丽.三自由度柔性并联机器人运动参数检测系统开发[J].航空计测技术,2010,30(3):25-28. |
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| 作者姓名： | 张学涛 田阳 叶威 李双 柴艳丽 |
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| 作者单位： | 中航工业北京长城计量测试技术研究所,北京,100095 |
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| 基金项目： | 北京市自然科学基金资助项目 |
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| 摘 要： | 以线尺传感器为采集单元,以RTLinux为开发平台,建立了平面三自由度柔性并联机器人运动参数检测系统,实现了机器人动平台运动位姿的实时获取。设计并完成了柔性系统下的高速、高加速轨迹实验,通过实验结果与仿真结果的对比,表明该检测系统实时性强,可靠性高,可以为平面三自由度柔性并联机器人全闭环实时控制提供支持。
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| 关 键 词： | 柔性并联机器人 线尺传感器 运动参数检测系统 实时 |
Development of Kinematics Parameters Detection System for 3-dof Flexible Parallel Robot |
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| ZHANG Xuetao,TIAN Yang,YE Wei,LI Shuang,CHAI Yanli.Development of Kinematics Parameters Detection System for 3-dof Flexible Parallel Robot[J].Aviation Metrology & Measurement Technology,2010,30(3):25-28. |
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| Authors: | ZHANG Xuetao TIAN Yang YE Wei LI Shuang CHAI Yanli |
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| Institution: | (Changcheng Institute of Metrology ＆ Measurement,Beijing 100095,China) |
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| Abstract: | The kinematics parameters detection system for planar 3-dof flexible parallel robot is built using linear wire encoder as acquiring unit and as RTLinux development platform.It has been realized to get the kinetic position of moving platform real-timely.The high-speed and high-acceleration trajectory experiments on the flexible system are designed and made.The experiment and simulation results show that the detection system has good real-time characteristic and reliability.It can support the closed-loop and real-time control of planar 3-dof flexible parallel robot. |
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| Keywords: | flexible parallel robot linear wire encoder kinematics parameters detection system real-time |
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