3-3TPS1S并联机器人机构的运动学研究  

Kinematics Analysis of 3-3TPS1S Parallel Robot Mechanism

作　　者：张宏涛 陈安军 

机构地区：[1]江南大学机械工程学院,江苏无锡214122

出　　处：《机械工程与自动化》2008年第2期123-126,共4页Mechanical Engineering & Automation

摘　　要：针对3-3TPS1S并联机器人机构,提出了一种基于反向运动学的正向运动学求解方法。该方法首先分别以动平台的转动角度和驱动杆的杆长为广义坐标,建立3-3TPS1S并联机器人机构的正、反向运动学模型;然后运用牛顿迭代法进行运动学正向求解。仿真结果表明:该方法求解速度快、精度高,对研究和应用同类机构有一定的参考价值。A new algorithm on direct kinematics of 3-3TPSIS parallel robot is presented, which is based on the theory of inverse kinematics solution. Firstly, the forward kinematics and inverse kinematics models of 3-3TPS1S parallel robot are constructed according to generalized coordinates which are respectively related to the rotating angles of moving plat and the lengths of driving rods. Secondly, Newton iterative method is employed to solve the forward kinematics. Simulations show that the algorithm is efficient and high-precise,can be served as a reference for the theory and practice related.

关 键 词：并联机器人 运动学正解 运动学反解 牛顿迭代法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]