3-HRC并联机器人的运动学分析与仿真  

Kinematics Analysis and Simulation of 3-HRC Parallel Mechanism

作　　者：郭林[1] 顾寄南[1] 杨尹[1] 

机构地区：[1]江苏大学制造业信息化研究中心,江苏镇江212013

出　　处：《机械设计与制造》2014年第1期177-179,共3页Machinery Design & Manufacture

基　　金：苏州市应用基础研究计划资助项目(SYG201129);机器人学国家重点实验室开放课题资助项目(RLO201006)

摘　　要：针对3-HRC新型空间三自由度的并联机器人进行了运动学分析。基于定平台与动平台间的矢量关系,运用齐次坐标变换法推导出该机构的运动学方程,进而得到位置反解计算公式;从而确定了动平台上某一点按预期轨迹运动时,驱动件上所需要施加的运动规律;最后,借助UG创建了该机构的装配模型,并通过ADAMS模拟仿真对所规划的运动轨迹进行了验证。研究结果表明:该机构具有良好的运动稳定性,便于实时控制。It analyzed the kinematics of a new 3-HRC 3-DOF parallel Mechanism. Based on the relation of the vector between the base platform and the moving platform, homogeneous coordinate trcutsformation method was used to derive the kinematics equation and then the inverse position was calculated; thereby the movement rules exerted＇on the actuator was achieved when one point of the movable platform was moving on the desired trajectory; at last, the assembly model of this mechanism was found by UG software, and the planned trajectory was verified by the use of ADAMS simulation. The results show that： the mechcmism has good movement stability and convenient for real-time control.

关 键 词：并联机构 运动学分析 虚拟样机技术 仿真 

分 类 号：TH16[机械工程—机械制造及自动化]