3-URS并联机器人位置分析

Position Analysis of a 3-URS Parallel Robot

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.