3-RSR并行机器人正向运功学闭式解  

The Forward Kinematic Closed Solution of 3-RSR Parallel-structure Robot

作　　者：周冰[1] 方浩[1] 冯祖仁[1] 

机构地区：[1]西安交通大学系统工程研究所,陕西710049

出　　处：《矿山机械》2000年第6期57-60,共4页Mining & Processing Equipment

摘　　要：针对并行机器人的结构特点，提出一种新的自观、简便姿态描述，并对一类3－RSR并行机器人进行几何分析，给出一种新的解法：应用Mathematica软件编程进行符号运算得到该类平台的闭式解，闭式解便于实现实时控制，同时用算例进行校验，结果表明计算速度快，达到秒级，为实时控制和实际应用创造厂条件。This paper. on the basis of the structural characteristics of parallel structure robot, advanced a new description of posture. which is visual and convenient, analyzed the parallel-structure robot tbr geometry and gives a new solution. The closed solution of this platform was obtained by Mathematical software programming and symbolic operation, which is convenient to realize the real-time control. At the same time, the closed solution was tested by computing instances. The result shown that the computing speed was so fast up to seconds. thus creating conditions for real-time control and practical application.

关 键 词：机器人 并行机器人 正向运动学 闭式解 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]