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1、Y1404972分類號：UDC：密級：學(xué)校代號：10150學(xué)號：20052026峽建交積摯碩士學(xué)位論文SCARA型機(jī)器人魯棒控制及仿真的研究StudyonRobustControlandSimulationfortheSCARARobot學(xué)生姓名：導(dǎo)師及職稱：學(xué)科門類：專業(yè)名稱：郭其龍張連東副教授工學(xué)機(jī)械制造及其自動化研究方向：先進(jìn)加工技術(shù)的理論與方法申請學(xué)位級別：論文答辯日期：學(xué)位授予單位：碩士2008年6月5日大連交通大學(xué)AbstractTheplanearticulatedrobotalsoiscalledSCARAassemblyrobotwh
2、ichisakindofrobotarnlappliedinassembly．Withthehigh-speeddevelopmentofthemodemmanufacturingindustry，itputsforwardahigherdemandtothemovingspeed，precisionandtheeffectiveloadabilityoftherobot．Theseperformanceswillbeinfluencedbythevarietyof、Ⅳorkenvironmentsandtheuncertainfactors，SOth
3、eassembleprecisionwillbedecreasedwhenweenhanceoftheperformanceoftherobotandthecomplexityofworkenvironment．Thisthesisfirstlyanalyzesthestructureoftherobotandestablishesthekinematicsanddynamicsmodelsoftherobotrespectivelyonthebasisofthestructureandworkspaceoftherobot．Thisthesismak
4、esaneffectivetrajectoryplanningandsimulationusingrobustcontroltodeletetheuncertaininfluence，suchasthefrictionoftherobot，thechangesofparametersandvibrationduringwork．Inthemeantime，weintroducedthefeedforwardcompensationtorestrainvariousinterferencefactorseffectively．Duetotherobots
5、ystemhastime’varying，strongcouplingandnonlineardynamicscharacteristics，itscontrolisverycomplicated·Thisthesisbuiltupamorepreciseandintegrateddynamicmodelbasedontheadequateanalysesofmodelerrors，loadvarietiesandoutsideinterferences．Atthesametime，thisthesisusesHoocontrolmethodtostu
6、dyhowtodesigncontrollerundertheinterferencefunctiontomakethesystemstableinsideandmakesuretheeffectsofinterferencetotheoutputislessthancertaindegreeshencethesystemwillhavecertainrobuststability．Weperformsimulationoftherobotsystembythes-functionintheMATLAB．Accordingtothedynamicequ
7、ationofrobot，wemakeacorrespondingprogram．Bytheinitialconditionoftherobotsystem，thejointcontroloutputviasimulationisattained．Thesimulationshowsthatitcallobtainabettercontroleffect．Finally．thisthesiscombinestheSolidWorkswiththe3DSMAXsoftwaretobuildupt11e3Dentityshapeoftherobot，and
8、makesuseoftheVRMLtechniqueintheMATLABtoimport3D
