3-RRR并联机器人运动学建模与仿真  

KINEMATICS MODELING AND SIMULATION OF 3-RRR PARALLEL MANIPULATOR

作　　者：张乾坤 高洪[1] 

机构地区：[1]安徽工程大学,安徽芜湖241000

出　　处：《巢湖学院学报》2017年第6期54-59,共6页Journal of Chaohu University

基　　金：安徽省高等学校自然科学研究重大项目(项目编号:KJ2017ZD14)

摘　　要：基于机构学理论,建立了3-RRR并联机器人逆运动学模型。在MATLAB软件中,编程求解该运动学模型,讨论了该并联机器人逆解与装配模式之间的关系;通过MATLAB软件仿真,得到不同装配模式下,主动杆角位移、角速度和角加速度的变化规律。为该机构的动力学分析和工程应用提供了技术基础。Based on the theory of mechanics, the inverse kinematics model of 3-RRR parallel robot is established. In this paper,the kinematics model is solved by programming in MATLAB software, meanwhile the relationship between the inverse of the parallel robot and the assembly mode is researched. The variation law of the angular displacement, angular velocity and angular acceleration of the active rod under different assembly modes are obtained by software simulation, which provides a technical basis for the dynamic analysis and engineering application of the mechanism.

关 键 词：3-RRR并联机器人 运动学逆解 装配模式 仿真 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]