3-DOF并联机器人运动学建模与实验验证  

Kinematics Modeling and Experimental Validation of 3-DOF Parallel Robot

作　　者：乔文刚[1] 袁亭雪 

机构地区：[1]内蒙古科技大学机械工程学院,内蒙古包头014010

出　　处：《机械传动》2014年第12期86-90,共5页Journal of Mechanical Transmission

摘　　要：对3-DOF并联机器人进行物理模型简化并建立运动学数学模型,以此模型为基础研究机器人位置控制系统并开发实验平台的软件控制系统。搭建了由机械、电气和软件三大系统组成的实验平台,进行实验并将实验数据与理想数据对比分析。分别用角度仿真法和坐标规划法,验证了实验平台运动学模型正确性。The physical model simplifying 3--DOF parallel robot is carrmct out a^lu ~ mathematical model is established, and on basis of this, the position control system of robot is studied and then the software control system of experimental platform is developed. An experimental platform consist of mechanical, electrical and software three systems is built. The experiment is carried out and the comparison analysis between experimental data and ideal data are carried out. The angles simulation and coordinate planning methods are used to prove the correctness of the kinematics model of position control experiment platform.

关 键 词：3-DOF并联机器人运动学 实验平台 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]