Analysys Of Dynamic Anco-simulation Of Table Ennis Robot

To achieve the target of the table tennis robot hitting ball accurately, neatly andquickly. This paper conducts a theoretical analysis on the Mechanical system and controlsystem of table tennis robot, and makes an in-depth research on co-simulation of the tabletennis robot combined with the real batting environment.The dynamic analysis of the table tennis robot was conducted. By the use ofLagrange method, the dynamics equation of the 6R series robot and 3-RPS+RP hybridrobot were established. And the batting path of table tennis robot was planed by using fiveorder polynomial. The thesis simulates and proves correctness of dynamic model and therationality of batting track of table tennis robot.The thesis attempts to establish the hitting model of the table tennis robot, includingthe motion of the ball, the collision between the ball and the racket, the collision the balland the table. By forecasting the table tennis trajectory, planning hitting path, it attains themulti-dimensional and many rounds batting environment through simulation. For thefailure of the crash simulation, the paper also puts forward the principle collision failureand solutions, and proves the validity of the validity of the solutions by simulation.Control system of table tennis robot is analyzed. The mathematical model of controlsystem was established by using the position, velocity, and current three-ring servo controlprinciple. By the use of PID control principle, setting the system control parametersthrough simulation to ultimately realize the accurate control of the robot.Co-simulation of table tennis robot is analyzed. By establishing co-simulation modelof the hybrid robot 3-RPS+RP based on position and force control, the validity of themodel and table tennis robot trajectory tracking characteristics is tested throughco-simulation. The double play virtual scene of the table tennis robot is achieved, and byevaluating and optimizing for the performance indexes of the robot, it can help determinereasonable prototype design parameters, which can provide theoretical guidance formanufacture of the robot prototype.