三自由度绳驱并联机器人运动学分析与仿真  

Kinematics Analysis and Simulation of 3-DOF Cable Driven Parallel Robot

作　　者：朱冠亚 张尚盈 黄元峰[1] 胡顺 ZHU Guanya;ZHANG Shangying;HUANG Yuanfeng;HU Shun(School of electrical information,wuhan university of engineering,Wuhan 430205)

机构地区：[1]武汉工程大学电气信息学院,武汉430205

出　　处：《现代制造技术与装备》2018年第12期25-26,28,共3页Modern Manufacturing Technology and Equipment

摘　　要：针对四绳索牵引三自由度并联机器人,建立相应结构模型,并基于所建模型对其运动学正逆问题进行分析求解,最后在Simulink中进行仿真分析,证明该模型可以得到精确正逆解运算和稳定运动轨迹,为深入研究机器人动力学、工作空间以及运动控制问题提供了理论依据。A three-degree-of-freedom parallel robot with four ropes is built, and the corresponding structural model is established. Based on the model, the kinematics forward and inverse problems are analyzed and solved. Finally, the simulation analysis is carried out in Simulink, which proves that the model can obtain accurate forward and inverse solution operations. Stabilizing the motion trajectory provides a theoretical basis for in-depth study of robot dynamics, workspace and motion control problems.

关 键 词：并联机器人 正逆解 建模仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]