本文關(guān)鍵詞： 并聯(lián)機器人 運動學(xué) 正逆解 仿真 工作空間　出處：《應(yīng)用科學(xué)學(xué)報》2016年06期 　論文類型：期刊論文

【摘要】：通過研究3RRR并聯(lián)機器人的平面機構(gòu)特點,用數(shù)值方法對其運動學(xué)正解進行分析求解,并用解析法對其運動學(xué)逆解進行分析求解.通過MATLAB仿真,用Pro/E建模加以驗證.在運動學(xué)逆解基礎(chǔ)上,運用二維遍歷搜索法得到3RRR并聯(lián)機構(gòu)的工作空間.結(jié)論表明,當動平臺的旋轉(zhuǎn)角度Φ為0°時,其工作空間最大;當旋轉(zhuǎn)角度Φ為π/2時,其工作空間最小.該方法可減小求解工作量,提高計算效率.
[Abstract]:By studying the characteristics of planar mechanism of 3RRR parallel robot, the forward kinematics solution of 3RRR parallel robot is analyzed and solved by numerical method, and the inverse kinematics solution is analyzed and solved by analytic method. By MATLAB simulation, the kinematics inverse solution of 3RRR parallel robot is analyzed. Based on the inverse kinematics solution, the workspace of 3RRR parallel mechanism is obtained by using two-dimensional ergodic search method. The results show that the workspace of 3RRR parallel mechanism is the largest when the rotation angle 桅 is 0 擄. When the rotation angle 桅 is 蟺 / 2:00, the workspace is minimum. This method can reduce the work load and improve the calculation efficiency.
【作者單位】： 武警工程大學(xué)裝備工程學(xué)院;
【基金】：陜西省教育廳科研計劃項目基金(No.16JK1339) 西安工程大學(xué)博士基金(No.BS15021)資助
【分類號】：TP242
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本文編號：1532855