高速抓取并联机器人实验平台运动学建模与分析  

Kinematics Modeling and Analysis of the High-speed Grasping Parallel Robot Experimental Platform

作　　者：陈修龙[1] 盛永超 CHEN Xiulong;SHENG Yongchao(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,Shandong,China)

机构地区：[1]山东科技大学机械电子工程学院,山东青岛266590

出　　处：《实验室研究与探索》2021年第1期101-106,共6页Research and Exploration In Laboratory

基　　金：山东省重点研发计划项目(2019GGX104011);山东科技大学优秀教学团队建设计划资助(JXTD20180502)。

摘　　要：提出了一种新型3-RRPaR高速抓取并联机器人结构,对3-RRPaR高速抓取并联机器人实验平台进行运动学建模和分析。介绍了3-RRPaR高速抓取并联机器人实验平台的结构特点,建立了实验平台的运动学正反解模型,并通过Matlab数值计算和ADAMS虚拟样机仿真验证了运动学分析的正确性。For a novel 3-RRPaR high-speed grasping parallel robot,an experimental platform is studied for its kinematics modeling and analysis.Firstly,the structural characteristics of 3-RRPaR high-speed grasping parallel robot experimental platform are introduced.Then the mathematical model of kinematic positive and inverse solutions of the parallel robot experimental platform is established.The correctness of the numerical calculation of kinematics analysis by Matlab and virtual prototype simulation by ADAMS is verified.

关 键 词：并联机器人 运动学反解 运动学正解 仿真验证 

分 类 号：G6[文化科学—教育学]