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毕业设计外文资料翻译题目基于六自由度Stewart平台并利用Pro/E进行机械手的建模和仿真学院机械工程学院专业机械工程及自动化班级学生学号指导教师时圣勇二〇一四年三月十一日济南大学毕业设计外文资料翻译-1-ModelingandMovementSimulationofaManipulatorof6—DOFbasedonStewartPlatformwithPro/EByZhuxinZhangandTiehuaChenDingxuanZhaoChangchuninstituteoftechnologyJilinJilinUniversityJilin,ChinaMar7,2007济南大学毕业设计外文资料翻译-2-AbstractAforcefeedbackmanipulatorisakeydeviceforamaster-slaveremotemanipulationsystem.Thispaperintroducesthebasicprincipleofthemanipulatorwithforcefeedback,designsthemainstructureofthemanipulator,andintroducesthemodelingandsimulationcorrelationfunctionsofthesoftwareofPro/E.ThepaperusesthesoftwareofPro/Etomodelandsimulatetheforcefeedbackmanipulator.Bymodelingandsimulatingthemovementinterveneofthemanipulatorcanbedetected,theintervenepositioncanbefoundbeforehand.Themovementspacecanbeanalyzed,sotherealizationpossibilityofdesigntargetcanbejudged.Bymodelingandsimulation,thedesignefficiencycanbeimproved,thecostofdesignandmanufacturetheprototypemachinecanbereduced.Keywords:modeling;movementsimulation;manipulator济南大学毕业设计外文资料翻译-3-ModelingandMovementSimulationofaManipulatorof6—DOFBasedonStewartPlatformwithPro/E1IntroductionManipulatorisanimportanthuman-machineinterface[1],itistheinter-mediumforhumanapperceivingtheworkenvironmentandcontrollingtheworkoftheremoteworksiterobot.Themanipulatorhastwomainfunctions.Firstly,itreproducestheinteractionoftherobotandtheobjectintheenvironmentfortheoperatorinrealtime,providestheforcetele-presencefortheoperatorasifhewereintheenvironment,itwillbehelpfulfortheoperatortomakedecisions.Secondly,themanipulatordetectstheinformationoftheoperator’spositionandgesturewellandtruly,transfersthemtothecontrolleroftheslaverobotinrealtime,makestheslaverobotreproducethecorrespondaction,providesmeansforthehumantocontroltherobotdirectly.Becausethemanipulatorhassomanyimportantfunctions,itisverymeaningfultodevelopthesix-DOFmanipulatorwithforcetele-presence.Six-DOFStewartplatform[2]istheimportantrepresentationofparallellinktypemechanism,itsworkspaceissmall,constructionissimple,preciseishigher,rigidisstrongly[3,4],itsdynamicalcharacteristicisgoodanditcanbecontrolledeasy.Thestructureofthemanipulatorinthepaperisbasedonthe6-DOFStewartplatform.2DesignofthemanipulatorstructureTheexperimentalsystemsofthe6-DOFteleoperationrobotdesignedincludes:themastermanipulatoranditscontrolsystem,theslavemanipulatoranditscontrolsystem.Thispaperdoesnotanalyzethedesigntheoryofthem,onlyintroducesthemainstructuresofthemanipulator.Themasterandslavemanipulatorsdesignedhavethesameconstructions,themainstructureiscomposedwiththemainbodyplatform,theelectro-hydraulicservodrivingsystem,thedetectingandcontrollingsystems.ThemainbodyofthemanipulatordesignedisbasedontheStewartplatform,itisshowninFig.1.Thecomponentsofitinclude:the济南大学毕业设计外文资料翻译-4-upperplatform,thebottomplatform,sixparallellinktypereciprocationpistonrodsandtheconnectgemels,etc.Fig.1ManipulatorbasedonStewartplatformTheupperplatformismoveable,thebottomplatformisthebaseone.Thetwoplatformsareconnectedwithsixsinglepistonrodhydrauliccylindersandtwelveuniversaljointsatthetwoendsofthecylinders.Attheupperplatformside,thereareSshapepullandpressforcesensorsusedtosensetheforcefeedback,andthroughwhichthehydrauliccylindersareconnectedtotheupperplatform.Thedisplacementsensorsarefixedbetweenthehydrauliccylindersandtherodstodetectthedisplacementsofthecylinders.Themanipulationhandleisboltedtothecentreofupperplatform.Electro-hydraulicservodrivenisappliedtothissystemforitsheavydensityofdrivenpowerandquickresponse,stableandreliableworkperformance.Soitcanrealizeaccuratedisplacementcontrol.Becauseofthelimitedworkspace,thestructureofthemovementsystemandtherequirementofeconomy,thesymmetricalvalvecontrolsasymmetricalcylindermethodisadoptedinthesystem.Theasymmetricalcylinderhasasinglerodin济南大学毕业设计外文资料翻译-5-oneend.Itsadvantagesaresmallroomoccupation,simplestructure,lowcostofmanufactureandpowerfuloutput.Themanipulatorisamechatronicsequipment,soitneedstomeetthecommonprinciple,suchasstructurecompact,transmissionagilityandcredibility,enoughrigidityandintension,etc.Themanipulatorshouldhaveitownspecialtycharacteristictoo.Themanipulatorshouldmaketheoperatorobtaintheforceandhaptictele-presenceinthevirtualenvironment,soitshouldbedecoupledinplaneorrotationmotiononkinematicsandcybernetics,inordertomeettheserequires,themanipulatorshouldhavethepropertiesofisotropyandnosingularityinstructure[5],etc.Inordertoimitatethehumanmuscleandexhibittheintegrativeofmachineandmeasure[6],forcesensorswerefixedontheendofthehydrauliccylinderrods,usingsixone-dimensionpull-presssensorstomeasurethesix-dimensionsforce.Thepull-presssensorisanStype.Thedisplacementsensorchosenismagnetostrictivetypeone.Itcanmeasureoutthepositionaccuratelybythetimeintervalsbetweentheoriginatingpulsesandtheterminatingpulses.Ithasmanystrongpoints,suchasbetterprecision,lowercost,longerlifeandconvenientinstalledandsoon.Soitisthebetterdisplacementmeasurementelementfor6-DOFmovementplatform[7].Itisproposedinthepaper[7],thatrollingfrictionshouldbeadoptedtoinsteadofsli