一种新型6-PRRS并联机器人正解研究  

Study on forward kinematics of a novel 6-PRRS parallel robot

作　　者：刘玉斌[1] 赵杰[1] 杨永刚[1] 蔡鹤皋[1] 

机构地区：[1]哈尔滨工业大学,哈尔滨150001

出　　处：《机械设计与制造》2007年第6期145-146,共2页Machinery Design & Manufacture

摘　　要：介绍了一种新型的6-PRRS并联机器人,位置正解是该并联机器人的重要研究内容,讨论了人工神经网络在其位置正解求解中的应用。在BP网络中,利用位置逆解结果作为样本,经过学习训练,找到输入滑块与运动平台的非线性映射关系,最终求得并联机器人的位置正解。采用迭代计算进行误差补偿的方法,提高正解精度。计算结果表明,该法迭代次数少、精度高,算例验证了解法的有效性与可行性。A novel 6-PRRS parallel robot is introduced. Forward kinematics is the significant content of its research area. We discuss the application of the artificial neutral net in the parallel robot forward kinematics.Based on study training in BP net, forward displacement solution is accomplished by finding the nonlinear map relation of the glide part and moving platforrm. To improve the accuracy of the solution, Iterative computation is adopted to compensate for the offset error.Computation sample proves that the iteration time is fewer and the precision is high, and the validity and feasibility of the proposed method are proved.

关 键 词：并联机器人 正运动学 人工神经网络 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]