一种新型3-PRP并联机器人的运动学分析与仿真  

Kinematics and simulation of a novel 3-PRP parallel robot

作　　者：于振中 孙强 宁金 YU Zhenzhong SUN Qiang NING Jin(Key Laboratory of Advanced Process Control for Light Industry, Ministry of Education, Jiangnan University, Wuxi, Jiangsu 214122, China)

机构地区：[1]江南大学轻工过程先进控制教育部重点实验室,江苏无锡214122

出　　处：《河北工业科技》2017年第3期183-188,共6页Hebei Journal of Industrial Science and Technology

基　　金：江苏省自然科学基金(BK20130159)

摘　　要：针对传统三自由度并联机器人结构分析困难的问题,通过对传统并联机器人结构与性能的分析,提出一种新型3-PRP并联机器人。为有效地降低机器人结构分析的难度,采用直线模组构成2个对称移动副,配合1个转动副,代替传统三自由度并联机器人的3个转动副,并根据该新型机器人的结构特点,建立了运动学模型;应用空间解析几何和向量代数法,推导出机器人的运动学正解与逆解方程;应用MATLAB仿真软件编程验证运动学正解与逆解的正确性,确立机器人的工作空间。仿真结果表明,该机器人具有工作空间大、运动学模型精度高、制造成本低等特点,具有广泛的工业应用前景。Aiming at the problem of the difficulty to analyze the structure of traditional 3-DOF parallel robot,based on the anal-ysis of structure and performance of the traditional parallel robot, a novel 3-PRP parallel robot is proposed. To effectively re-duce the difficulty of the structure analysis, the linear modules are adopted to form two symmetrical moving pairs, with a rota-tion pair to take place of three rotation pairs of traditional 3-DOF parallel robot, and according to the structural characteristics of the new robot, the kinematic model is established. Then the forward and inverse kinematics solutions of robot are derived by space analytic geometry and vector algebra. At last, the correctness of the forward and inverse kinematics solutions are verified by MATLAB programming, and the workspace of the robot is established. The simulation results show that the robot has the characteristics of large workspace, high precision of kinematics model and low manufacturing cost, and has a wide range of in-dustrial applications.

关 键 词：机器人控制 3-PRP 并联机器人 运动学模型 仿真 工作空间 

分 类 号：TH122[机械工程—机械设计及理论]