钢带并联机器人运动学模型与数值模拟  

Kinematics Model and Numerical Simulation of Steel Band Parallel Robot

作　　者：艾青林[1] 舒剑[1] 祖顺江[1] 

机构地区：[1]浙江工业大学特种装备制造与先进加工技术教育部/浙江省重点实验室,浙江杭州310014

出　　处：《机械传动》2014年第8期18-22,共5页Journal of Mechanical Transmission

基　　金：国家自然科学基金(51275470);浙江省自然科学基金(LY12E07004);浙江省教育厅重点项目(Z201121137);浙江省特种机电装备与加工技术科技创新团队自主设计项目(2011R50011-15);浙江省高等学校中青年学科带头人学术攀登项目(pd2013019)

摘　　要：为了解决钢带并联机器人运动学计算复杂等问题,对钢带并联机器人运动学模型进行了探讨。分析了现有的并联机器人运动学位置求解方法,阐述了钢带并联机器人工作原理与钢带并联机器人的运动位置逆解建模过程。采用瞬时速度方向逐次逼近法,建立钢带并联机器人的运动位置正解模型。分析了钢带长度计算中误差产生的主要因素,得出钢带长度与理论支撑件长度之间的计算关系。对位置逆解、正解模型进行了仿真验算,仿真实验结果表明位置正解、逆解模型的计算结果满足钢带并联机器人的运动精度要求。Aiming at complex calculation of forward kinematics of steel band parallel robot,the kinematics model and solution of steel band parallel robot is discussed.The existing kinematics analysis methods are introduced.The working principle of steel band parallel robot is described.The inverse kinematics model of steel band parallel robot is set up.The successive approximation with the approximation direction as well as instantaneous velocity direction is used to set up the forward kinematics model and the solving procedure is described in detail.The main factors affecting calculation error of steel band length are discussed.The formula of the relationship between steel band length and support rod length is obtained.The forward kinematics model and inverse kinematics model are solved to get numerical result.The result shows that the forward kinematics model and inverse kinematics model are validity.

关 键 词：钢带并联机器人 运动学模型 逼近法 位置正解 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]