济南大学毕业设计外文资料翻译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 二一 四 年 三 月 十一 日- 1 - Modeling and Movement Simulation of a Manipulator of 6DOF based on Stewart Platform with Pro/EBy Changchun institute of technology JilinJilin UniversityJilin, China AbstractA force feed back manipulator is a key device for a master-slave remote manipulation system. This paper introduces the basic principle of the manipulator with force feedback, designs the main structure of the manipulator, and introduces the modeling and simulation correlation functions of the software of Pro/E. The paper uses the software of Pro/E to model and simulate the force feedback manipulator. By modeling and simulating the movement intervene of the manipulator can be detected, the intervene position can be found beforehand. The movement space can be analyzed, so the realization possibility of design target can be judged. By modeling and simulation, the design efficiency can be improved, the cost of design and manufacture the prototype machine can be reduced.Keywords: modeling; movement simulation; manipulatorModeling and Movement Simulation of a Manipulator of 6DOF Based on Stewart Platform with Pro/E1 IntroductionManipulator is an important human-machine interface1, it is the inter-medium for human apperceiving the work environment and controlling the work of the remote worksite robot. The manipulator has two main functions. Firstly, it reproduces the interaction of the robot and the object in the environment for the operator in real time, provides the force tele-presence for the operator as if he were in the environment, it will be helpful for the operator to make decisions. Secondly, the manipulator detects the information of the operators position and gesture well and truly, transfers them to the controller of the slave robot in real time, makes the slave robot reproduce the correspond action, provides means for the human to control the robot directly. Because the manipulator has so many important functions, it is very meaningful to develop the six-DOF manipulator with force tele-presence. Six-DOF Stewart platform2 is the important representation of parallel link type mechanism, its workspace is small, construction is simple, precise is higher, rigid is strongly3,4, its dynamical characteristic is good and it can be controlled easy. The structure of the manipulator in the paper is based on the 6-DOF Stewart platform.2 Design of the manipulator structureThe experimental systems of the 6-DOF teleoperation robot designed includes: the master manipulator and its control system, the slave manipulator and its control system. This paper does not analyze the design theory of them, only introduces the main structures of the manipulator.The master and slave manipulators designed have the same constructions, the main structure is composed with the main body platform, the electro-hydraulic servo driving system, the detecting and controlling systems.The main body of the manipulator designed is based on the Stewart platform, it is shown in Fig. 1. The components of it include: theupper platform, the bottom platform, six parallel link type reciprocation piston rods and the connect gemels,etc.Fig.1 Manipulator based on Stewart platformThe upper platform is moveable, the bottom platform is the base one. The two platforms are connected with six single piston rod hydraulic cylinders and twelve universal joints at the two ends of the cylinders. At the upper platform side, there are S shape pull and press force sensors used to sense the force feedback, and through which the hydraulic cylinders are connected to the upper platform. The displacement sensors are fixed between the hydraulic cylinders and the rods to detect the displacements of the cylinders. The manipulation handle is bolted to the centre of upper platform.Electro-hydraulic servo driven is applied to this system for its heavy density of driven power and quick response, stable and reliable work performance. So it can realize accurate displacement control. Because of the limited work space, the structure of the movement system and the requirement of economy, the symmetrical valve controls asymmetrical cylinder method is adopted in the system. The asymmetrical cylinder has a single rod in one end. Its advantages are small room occupation, simple structure, low cost of manufacture and powerful output. The manipulator is a mechatronics equipment, so it needs to meet the common principle, such as structure compact, transmission agility and credibility, enough rigidity and intension, etc. The ma