基于二维遍历搜索法的3RRR并联机器人运动学分析

发布时间：2018-02-25 03:28

  本文关键词： 并联机器人 运动学 正逆解 仿真 工作空间　出处：《应用科学学报》2016年06期 　论文类型：期刊论文

【摘要】：通过研究3RRR并联机器人的平面机构特点,用数值方法对其运动学正解进行分析求解,并用解析法对其运动学逆解进行分析求解.通过MATLAB仿真,用Pro/E建模加以验证.在运动学逆解基础上,运用二维遍历搜索法得到3RRR并联机构的工作空间.结论表明,当动平台的旋转角度Φ为0°时,其工作空间最大;当旋转角度Φ为π/2时,其工作空间最小.该方法可减小求解工作量,提高计算效率.
[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 掳. 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.
【作者单位】： 武警工程大学装备工程学院;
【基金】：陕西省教育厅科研计划项目基金(No.16JK1339) 西安工程大学博士基金(No.BS15021)资助
【分类号】：TP242
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本文编号：1532855