一种少自由度并联机器人的逆运动学仿真

Inverse Kinematics Simulation of a Parallel Robot with Few Degree of Freedom

以Pro/E环境下建立的少自由度并联机器人的模型为研究对象,在ADAMS/View模块下,对其添加约束和驱动后,进行运动学仿真。给定动平台的位姿,测量驱动杆杆长的变化曲线,利用ADAMS/Postprocessor模块对测量结果进行后处理,可得运动学逆解。该方法避免了大量的数学计算和计算机语言编程工作,通过CAE仿真软件实现了对并联机器人的运动学仿真,为并联机器人实际样机的调试和控制提供了一套有效的分析方法。

This paper uses the Pro/Engineer to build a virtual prototype of the parallel robot. The ADAMS/View is also used to build the joints and motions for the virtual prototype and then the kinematics simulations run. Given the displacement and orientation of the moving platform,the changing curves of driving links can be obtained through measuring their lengths. Then the inverse kinematics problem is solved by using the ADAMS/Postprocessor to process the result of simulations. With this method ,a lot of work can be avoided in programming and computation. And kinematics simulations of the parallel robot mechanism are realized with the CAE software on computer. An effective analysis method, which is used to rectify and control the physical model of the parallel robot mechanism ,is obtained.