基于COSMOSMotion的3-PRRU并联机器人运动仿真  

Kinematics Simulation of 3-PRRU Parallel Mechanisms Based on COSMOSMotion

作　　者：张铁牛[1] 陆中平[2] 陈巧红[1] 李秦川[1] 武传宇[1] 胡旭东[1] 

机构地区：[1]浙江理工大学浙江省现代纺织装备技术重点实验室,杭州310018 [2]杭州娃哈哈集团有限公司精密机械制造公司,杭州310018

出　　处：《浙江理工大学学报（自然科学版）》2010年第6期885-888,899,共5页Journal of Zhejiang Sci-Tech University(Natural Sciences)

基　　金：国家自然科学基金(50905167);浙江省自然科学基金(R1090134)

摘　　要：为实现3-PRRU并联机器人运动的可视化,应用并联机器人机构学理论,建立了3-PRRU机构的位置反解方程,进而得出了并联机构工具末端的运动方程,运用SolidWorks建立了3-PRRU并联机构的虚拟样机,并利用集成的COSMOSMotion软件对机构进行了运动仿真,仿真结果验证了理论分析的正确性,并为后续的轨迹规划和结构优化提供了参考依据。In order to achieve visualization of motion planning of 3-PRRU parallel manipulator,the inverse solution of the 3-PRRU parallel mechanism is formulated by using the theory of kinematics of the parallel mechanism,then the movement trajectories of the end of the tool fixed on movable platform of the parallel mechanism is deduced.The virtual prototype of this mechanism is created in SolidWorks software,and the Kinematics is simulated with COSMOSMotion software integrated on SolidWorks.The result of simulation verifies the correctness of theoretical analysis and supplies the frame of reference for trajectory planning and structural optimization.

关 键 词：并联机器人 位置反解 虚拟样机 COSMOSMOTION 

分 类 号：TH112[机械工程—机械设计及理论]