三自由度Delta并联机器人运动学分析及工作空间求解

Kinematic Analysis and Workspace of 3-Dof Delta Parallel Robot

通过对三自由度Delta机器人机构的分析,建立了运动学模型。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,进一步得到位置反解的计算公式;同时给出了正解的数值解法,并结合算例验证了推导的正确性。利用运动学反解方程,提出了一种工作空间的求法。

This paper introduces the solution of forward position and inverse position of 3-dof delta parallel robot, establishes proper kinematical model. The kinematic equation of 3-dof delta parallel robot was set up based on the relation of the vector between the moving platform and the base platform. Then the formulation of inverse solution and the numerical solution of direct solution are obtained , the correctness is verified by combining examples. On the basis of inverse position ,a method of workplace is put forward.