空间平移3-PCR并联机器人的运动学分析与仿真  

Kinematics analysis and simulation of 3-PCR translational parallel robot

作　　者：李波 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：《机械设计》2010年第12期53-57,共5页Journal of Machine Design

摘　　要：对具有3平移自由度的3-PCR并联机器人机构进行了运动学分析。基于机构的运动约束方程,建立机构的位置解的解析表达式;通过点的合成运动分析,建立机构控制构件与动平台速度和加速度关系,并以显函数的形式表示;通过UG创建机构的装配模型及ADAMS仿真,对规划的运动轨迹进行了验证。The kinematics analysis of the 3-PCR parallel robot mechanism with 3-DOF was carried out.Based on the motion constraint equation of the mechanism,the analytic expression of the position solution of the mechanism was established.Through composite motion analysis of points,the relationships between the control members of the mechanism and the velocity and acceleration of the mobile platform,and expressed in the form of explicit function.by means of the assembly model of the mechanism created by using UG and the ADAMS simulation,the planned motion track was verified.

关 键 词：平移运动 并联机器人 运动学分析 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]