摘要
机器人的位置分析是其设计与应用的基础。介绍了一种3-URS6自由度并联机器人,基于其结构布局特点,推导出这种机器人的位置正、反解方程式,并得到了其位置正、反解的封闭解,在考虑其结构约束的情况下,绘制了定姿态工作空间的截面图和三维立体图,为这种机器人设计及应用奠定了理论基础。
The position analysis is significant for design and applications of robot.A 6-DOF 3-URS parallel robot is introduced.On the base of structural layout,direct kinematics and inverse kinematics equation of the 6-DOF 3-URS parallel robot are established.Direct kinematics and inverse kinematics closed-form solution are obtained.At the end,three-dimensional fixed pose workspace is described by numeric approach taking structural limit into account.All of these works are very useful for design and use of this robot.
出处
《机械传动》
CSCD
北大核心
2008年第5期30-32,共3页
Journal of Mechanical Transmission