新型6-PRRS并联机器人运动学和动力学研究  

Study on kinematics and dynamics of a novel 6-PRRS parallel robot

作　　者：刘玉斌[1] 赵杰[1] 蔡鹤皋[1] 

机构地区：[1]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《吉林大学学报（工学版）》2008年第5期1220-1224,共5页Journal of Jilin University:Engineering and Technology Edition

基　　金：'863'国家高技术研究发展计划项目(2001AA422250);长江学者和创新团队发展计划项目(IRT0423)

摘　　要：利用旋量理论和指数积方法求解了6-PRRS并联机构主动关节与被动关节的位置逆解。根据该并联机构的输入输出映射关系,推导出一种基于速度投影的雅可比矩阵求解方法。提出一种解决新型6-PRRS并联机器人逆动力学问题的系统方法,采用Lagrange法建立并联机器人的刚体动力学关系,应用虚功原理最终获得动力学模型。解决了6-PRSS并联机器人一系列运动学和动力学问题,这些方法具有一定的通用性,适用于类似并联机构的分析与研究。Based on s and active joints of input and output of velocity projection m theory and exponential product method, the inverse kinematics of the passive 6-PRRS parallel robot was resolved. According to the mapping relation of parallel robot, Jacobian matrix of this ethod. A systematic approa novel 6-PRRS parallel robot. The dynamics equa methodby using the principle of virtual work was of this kind robot were solved. These methods al robots. ch was develope tion of the robot achieved. A ser so have adaptibil robot was obtained on the basis of d to solve the inverse dynamics of a constructed on the basis of Lagrange ies of kinematics and dymanics issues ity to the research for similar parallel robots.

关 键 词：自动控制技术 并联机器人 指数积 逆运动学 动力学 雅可比矩阵 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]