基于ADAMS软件的3-RRC并联机器人运动学正解仿真分析

Direct Kinematics Solution Analysis and Simulation of 3-RRC Parallel Robot Based on ADAMS

应用ADAMS软件建立3-RRC并联机器人模型,并进行运动学仿真,使用测量工具求得并联机器人位置逆解,使用样条曲线和样条函数通过仿真求得位置正解。借助于仿真软件求得运动学正解方法快速准确,为实际的样机调试和控制提供了有意义的借鉴。

Multi-body model of a 3-RRC parallel robot is built and Kinematic simulation is carried out based on the software ADAMS, Through the measuring tools and spline function, the direct kinematics solution of 3-RRC parallel robot is worked out. It is proved that the direct kinematics solution method of 3-RRC parallel Robot presented is effective and rapid.