6PTRT型并联机器人运动学分析  

Analysis on kinematics of 6PTRT parallel robot

作　　者：吕韫琦[1] 高国琴[1] 

机构地区：[1]江苏大学电气学院,镇江212003

出　　处：《机械设计与制造》2009年第11期154-156,共3页Machinery Design & Manufacture

基　　金：镇江市工业攻关项目(GY2007006)

摘　　要：6PTRT型并联机器人具有较高的实用价值。根据6PTRT型并联机器人的自身机械特点和机构约束性建立了位置反解模型。提出利用一阶影响系数矩阵,基于位置反解方程,利用位置反解迭代的杆垂直移动距离逐次逼近真实移动距离的思路建立了位置正解模型。这种正解算法基于位置反解,所以相对简单易求。同时,用这种方法所求的解是机构在运动中可以实现的,这对于运动过程中计算机的实时控制和并联机器人的末端位姿的检测具重要的意义。The 6PTRTparalle lrobot has a high practical value. Established the position inverse solution model according to 6PTRT parallel robot s own mechanical characteristic and its own institutions. It proposed that the use first-order influence coefficient matrix,based on the position inverse solution,was away from using the position inverse solution s pole vertical migration approaches the real motion distance the mentality to establish the position normal solution model gradually. This algorithm is based on the position inverse solution,so relatively easy to seek. At the same time ,in this way by the agency is seeking the solution can be achieved in the campaign,in the course of this campaign for the real-time computer control and pacallel robot pose the end of the detection of important significance.

关 键 词：6PTRT型并联机器人 位置反解 位置正解 迭代 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]