3-RRRT并联机器人位置正向求解研究

Direct Kinematics Solution of a 3-RRRT Parallel Robot

研究一种3-RRRT型并联机器人机构的运动学正向求解方法,根据3-RRRT型并联机器人机构特点以及关节运动的取值范围,提出了以并联机器人支链中支杆的方向余弦和动平台绝对位置坐标为系统的广义坐标的方法,并详细地推导了3-RRRT型并联机器人运动学模型,通过进一步消除中间变量的方法最终获得了易于正、逆运动学求解的只包含3个驱动关节坐标与动平台3个绝对位置坐标的约束方程组。最后,运用基于Moore-Penrose广义逆的牛顿迭代格式编制了MATLAB运动学正向求解程序,并进行了运动学正向求解数值仿真,结果表明求解程序快速有效。

Direct kinematics solution method of 3 - RRRT parallel robot was researched. According to mechanism character and joint motion range of 3 - RRRT parallel robot, the paper put forward a method which took the supporting bar orientation cosine and motion platform absolute station coordinates of 3 - RRRT parallel robot as system＇s generalized coordinates, and kinematics model of 3 - RRRT parallel robot was set up, restrict equations with three drive joint coordinates and three station coordinates of motion platform were got. It is adaptive to direct and inverse kinematics solution. Then MATLAB iterative solution program based on Moore - Penrose pseudo inverse was worked out. Direct kinematics numerical simulation of 3 - RRRT parallel robot was done by using MATLAB software. It proved that the direct kinematics solution method and program of 3 - RRRT parallel robot presented are effective and rapid.