3-RPC并联机器人的运动轨迹规划与仿真  

Trajectory Planning and Simulation on 3-RPC Parallel Mechanisms

作　　者：郭宗和[1] 李连升[1] 孙术华[1] 

机构地区：[1]山东理工大学,淄博255049

出　　处：《中国机械工程》2007年第9期1036-1038,共3页China Mechanical Engineering

基　　金：山东省自然科学基金资助项目(Y2003F01)

摘　　要：对一种具有四角平台的3-RPC并联机器人进行了结构分析,应用并联机构逆运动学分析理论,对并联机构动平台的运动轨迹规划进行了推导,提出了3-RPC并联机构的运动学反解计算公式,进而确定了动平台上某一点按预期轨迹运动时应在原动件上设定的运动规律。借助UG创建了该机构的装配模型,通过ADAMS仿真对所规划的运动轨迹进行了验证。The structure of a new 3-RPC parallel manipulator with tetragonal platform was analyzed herein. The movable platform＇s motion path of the 3-RPC parallel mechanism was studied by using the theory of inverse kinematics of the parallel mechanism, the computation formula of inverse kinematics was deduced, then the movement rules exerted on the actuator was achieved when one point of the movable platform was moving on the desired trajectory . The virtual prototype of this mechanism is created in UG software and the planning trajectory is verified through simulation in ADAMS at last.

关 键 词：并联机构 位置反解 轨迹规划 虚拟样机技术 

分 类 号：TH112[机械工程—机械设计及理论]