一种冗余并联机器人的运动学及工作空间分析  

Analysis of the Kinematics and Workspace of a New Redundancy Parallel Robot

作　　者：朱彩红[1] 

机构地区：[1]苏州市职业大学电子工程系,江苏苏州215104

出　　处：《南通职业大学学报》2011年第1期88-92,共5页Journal of Nantong Vocational University

摘　　要：针对一种平面冗余2-DOF并联机器人,分析了其运动学正解和反解,并在运动学反解的基础上讨论了该机构工作空间的约束条件;提出了运用Matcom将Matlab和VC++结合起来进行混合编程的方法,探讨了并联机构工作空间的形状,并得到基于VC++开发的该并联机器人控制系统;仿真结果表明,该机构具有较好的工作空间,可广泛应用于工业装配机器人、虚拟轴并联机床和多维减振平台等领域。A redundancy 2-DOF parallel robot was investigated and the closed-formed solutions were developed for both inverse and direct kinematics.Based on the inverse solutions,constraint condition of the workspace was discussed.Multi-language programming of Matlab with VC＋＋ was used to plot the workspace.It is shown from the simulation that the robot has a satisfied workspace and can be widely applied in the field of industrial robots,virtual axis machine tools,and damping platforms.

关 键 词：并联机器人 2-DOF并联机构 工作空间分析 MATLAB仿真 混合编程 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]