摘要
对2-RPS+PSR并联机器人进行了构型分析并计算了自由度;然后建立了2-RPS+PSR并联机器人反解数学模型,建立了其约束方程,得到了其运动学数值反解。在ADAMS环境下对该机器人进行了运动学数值仿真分析,得出了位移、速度与加速度的变化规律。
This paper briefly analyses the 2-RPS＋PSR manipulator and calculates the freedom, and sets the mathematical model of the manipulator and the restraint equations. From these, we can get the kinematics reverse solutions of the 2-RPS＋PSR manipulator. It also finishes the kinematics simulation analysis of the manipulator in Adams, gets the change law of the displacement, velocity and acceleration.
出处
《机电一体化》
2007年第5期49-51,55,共4页
Mechatronics
关键词
并联机器人
反解
运动学
仿真分析
parallel manipulator reverse solution kinematics simulation analysis
