基于SimMechanics的二自由度并联机器人运动学仿真  

Kinematics Analysis of Two DOF Parallel Robot Mechanism Based on SimMechanics

作　　者：王国明[1,2] 马履中[3] 

机构地区：[1]滨州学院自动化系,滨州256603 [2]滨州学院黄河三角洲高效生态经济发展研究院自动控制研究中心,滨州256603 [3]江苏大学,镇江212013

出　　处：《机械设计与制造》2012年第6期162-164,共3页Machinery Design & Manufacture

基　　金：国家自然基金(50905077);滨州学院青年人才创新工程科研基金项目(BZXYQNLG201007)

摘　　要：讨论了二自由度平面并联机器人的正向和逆向运动学问题,利用复数矢量法建立该并联机器人的正向运动学模型和逆向运动学模型,利用数值解法求解机器人的逆向运动学问题。在建模之前,对机器臂的初始位置需要根据机器臂的几何位置进行合理的估计,避免数值解法无法收敛,最后在SimMechanics环境下建立该机器人的计算机模型,通过仿真算例证明了数值解法的可行性。采用Sim-Mechanics模块完成运动学仿真和逆向运动学中非线性方程组的数值求解,使得机器人模型的求解和验证更加快速有效。The for ward and inverse kinematics analysis for a 2 DOF parallel manipulator was investigated.With complex vector method,the forward kinematics and inverse kinematics models were built to derive the kinematics equations.The inverse kinematics problem was solved by numerical methods.Before the modeling,the initial position of the robot arm was estimated rationally according to geometric position of the arm to avoid the numerical solution from no convergence.Finally,the computer model for simulating this kind of parallel robot was established under SimMechanics.And the feasibility of numerical method was justified by simulation.The numerical solution of nonlinearity equations set in kinematics simulation and inverse kinematics were completed by SimMechanics module to make the solution of the robot model and validation more effective.

关 键 词：并联机器人 数值解法 轨迹规划 SIMMECHANICS 

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]