摘要
通过对直线型Delta机器人机构和简化模型进行分析,建立了其运动学模型。基于动平台与固定平台之间的矢量关系,推导出该机器人的运动学方程,进一步得到位置正解、逆解的计算公式。同时针对Delta机器人运动学位置正解求解复杂的情况,提出了一种球型的几何建模方法并得出运动学正解,并通过Matlab仿真验证了推导的正确性。
The kinematics model is established through the analysis of linear Delta robot mechanism and simplified model. Based on the vector relationship between the moving platform and the fixed platform, the kinematics equation of the robot is deduced and the formula of forward and inverse solution is obtained. At the same time, the complicated situation of the kinematics of Delta robot in this paper, a spherical geometry modeling method is proposed so the correctness of the derivation is verified by Matlab simulation.
出处
《机电工程技术》
2017年第4期5-7,共3页
Mechanical & Electrical Engineering Technology
基金
广东省科技计划项目(编号:2015A030401088)
广东省科技型中小企业技术创新专项资金项目(编号:2016A010119143)
