带连杆六自由度并联机器人位姿反解方法研究  

Inverse Position Kinematics for 6-DOF Parallel Platform with Connecting Rod

作　　者：徐显桩 沈如涛 关广丰[1] 熊伟[1] 王海涛[1] XU Xianzhuang;SHEN Rutao;GUAN Guangfeng;XIONG Wei;WANG Haitao(Department of Mechanical Engineering,Dalian Maritime University,Dalian Liaoning 116000,China)

机构地区：[1]大连海事大学机械工程系,辽宁大连116000

出　　处：《机床与液压》2018年第21期11-14,共4页Machine Tool & Hydraulics

基　　金：国家自然科学基金资助项目(51675073);中央高校基本科研业务费专项资金资助项目(3132017019);大连市高层次人才创新创业项目(2015R064)

摘　　要：六自由度并联机器人的位置反解是构建机器人姿态闭环控制的关键技术。将缸体固定,由轻量化连杆传递运动可降低液压缸运动的惯性力和铰接处摩擦力。传统的运动学反解办法不适用于带连杆的并联机器人。通过建立连杆局部坐标系的方法求取变换矩阵,进而求得带连杆六自由度并联机器人的位置反解方法。并利用ADAMS搭建虚拟样机模型检验算法的准确性。The inverse position kinematics of 6-DOF parallel robot is the key technology to construct the closed-loop control of robot attitude. The traditional inverse kinematics can’ t be applied to the platform with connecting rod. The transformation matrix was obtained by establishing the local coordinate system of the connecting rod. A new position inverse kinematics method was presented based on the analysis of the transformation matrix. The virtual prototype model was built based on the ADAMS platform to verify the correctness of the presented method.

关 键 词：带连杆六自由度并联机器人 位姿反解 变换矩阵 

分 类 号：TH113.22[机械工程—机械设计及理论]