摘要
研究了一种具有三角形平台的3-PUU并联机器人机构。通过理论分析,证明了该机构在初始位置和一般情况时,动平台只做三维平动。在该并联机构上建立坐标系,运用解析几何中的坐标变换,求出了该并联机构的位置逆解,同时通过MATLAB软件对该方法进行了仿真。
In the paper,a 3-PUU parallel mechanism with triangle platform is studied.Applying the method of numerical calculation and DOF analysis,the authors prove that the moving platform can only do 3-DOF translation at the initial position and other positions.The coordinate system is set up on the mechanism.Based on the method of coordinate transformation,the inverse solution of kinematics is obtained.At the same time,the kinematics simulation of the mechanism is carried out by MATLAB.
出处
《机械工程与自动化》
2010年第3期145-146,149,共3页
Mechanical Engineering & Automation
关键词
并联机构
运动学位置逆解
坐标变换
parallel mechanism
the inverse solution of kinematics
coordinate transformation
