摘要
介绍了并联机器人的特点和主要的应用领域。针对6-RSS并联机构这一新构型,介绍了其工作原理和主要特点,并建立了运动学逆解数学模型。分析了6-RSS并联机构逆解的多解性,提出了一种运动学逆解的数值求解算法,并针对一个给定结构几何尺寸参数的6-RSS并联机构进行了计算。
Introduce the characteristics and appliealions of the parallel robot. As a new type, the 6-RSS parallel robot is analyzed in this paper. The converse kinematies mode of the 6-RSS is gained. The result of the converse kinematics is proved not single, and then the space geometry explanation of this phenomenon is presented. Further, the standard of selecting the converse kinematics results is developed. A numerical arithmetic of the converse kinematics is developed too, by use of this arithmetic, an example of the 6-RSS is calculated.
出处
《机械工程师》
2006年第9期24-27,共4页
Mechanical Engineer
关键词
6-RSS并联机器人
运动学分析
逆解多解性
6-RSS parallel robot
converse kinematics： muhi-resuhs of the converse kinematies
