2SPS+RRPRR并联机器人实时速度加速度的变量几何法求解  

Solving the Velocity and Acceleration of the 2SPS+RRPRR Parallel Robot based on CAD Geometry

作　　者：叶勇[1] 

机构地区：[1]重庆电子工程职业学院机电工程系,重庆401331

出　　处：《机械传动》2012年第6期74-77,共4页Journal of Mechanical Transmission

摘　　要：以有限差分原理为基础,利用计算机辅助几何约束和尺寸驱动技术,构造含有欧拉角的5自由度2SPS+RRPRR并联机器人模拟机构,得到其位姿解。在此基础上进一步构造线速度/线加速度和欧拉角速度/角加速度模拟机构,得到其线速度/线加速度及欧拉角速度/角加速度解。当改变驱动参数时,模拟机构也随之变化,自动求解各项运动学参数。结果表明CAD变量几何法不仅快速直观,而且准确可靠。Based on the finite-difference method,using the computer aided geometry constraints and dimension driving technique,a simulation mechanism of the 5-dof parallel robot with Euler angles is created,and the position-orientation is obtained.Then the linear velocity/acceleration and Euler angular velocity/angular acceleration simulation mechanisms are created.When modifying the driving dimension,the configuration of the simulation mechanisms are varied correspondingly,and all of the kinematical parameters are solved automatically.The results show that the CAD variation geometry is fairly quick and straightforward,and it is also advantageous from viewpoint of accuracy and reliability.

关 键 词：并联机器人 欧拉角 运动学 CAD变量几何法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]