4SPS+SPR并联机器人运动学参数的变量几何法求解  

Solving of Kinematics Parameter of the 4SPS+SPR ParallelRobot based on CAD Variable Geometry Technique

作　　者：李建平[1] 康亮[2] 叶勇[1] 

机构地区：[1]重庆电子工程职业学院机电学院,重庆401331 [2]重庆电子工程职业学院管理学院,重庆401331

出　　处：《机械传动》2013年第4期72-76,共5页Journal of Mechanical Transmission

摘　　要：利用计算机辅助几何约束、尺寸约束和尺寸驱动技术,用于实时求解一个含有欧拉角的5自由度4SPS+SPR并联机器人的运动学参数。首先构造其模拟机构,得到其位姿解;其次,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。The computer aided geometry constraints,dimension constraints and dimension driving technique are used to solving the kinematics parameter of the 5-dof 4SPS＋SPR parallel robot with Euler angles.First,the simulation mechanism is created,and the position-orientation is obtained.Then the linear velocity/acceleration and Euler angular velocity/angular acceleration simulation mechanisms are created and obtained.When modifying the driving dimension,the configuration of the simulation mechanisms are varied correspondingly,and all of the kinematics parameters are solved automatically.The results show that the CAD variation geometry is fairly quick and straightforward,and 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]