MÔ HÌNH HÓA ĐỘNG LỰC HỌC RÔ BỐT SONG SONG 3RRR

Abstract

This article studies the dynamic modeling of parallel robot 3RRR. Based on analysis and synthesis of results from domestic and foreign studies, the article presents the problem of analyzing the mechanical model, the mathematical model describing the motion of the parallel robot 3RRR as the basis for kinematic and dynamic analysis. The process of calculation and analysis is performed on Maple for intuitive, explicit results and describes the quantities by vivid simulation graphs. From that result, research and develop the model design on SolidWorks software using the Simscape Multibody tool in MATLAB to simulate the robot's movement according to defined trajectories. Therefore, the study obtained the graph of torque signal at the active joints by the same two methods, proving that the analysis and calculation results are correct. The research also develops the design of a real robot model, and performs model control according to the given trajectories. These research results will serve as a useful reference for the application for the calculation and design of parallel robot 3RRR models in other practical situations.