摘要
针对3根绳牵引的3自由度不完全约束的平动绳牵引并联机器人的逆运动学、动力学进行分析,选择驱动器坐标为系统的平坦输出,通过理论分析和实例仿真表明不完全约束绳牵引并联机器人具有微分平坦性。
This paper focuses on the inverse kinematics analysis of a 3 wire-driven and 3 DOF incompletely restrained parallel robot, and the solutions of its dynamic problem are obtained. In theoretical analysis and simulation experiments, the coordinate driver is selected as flatness output. The results of the analysis and experiments show that the incompletely restrained wire-driven parallel robot has the differential flatness.
出处
《机械设计与研究》
CSCD
北大核心
2010年第3期19-22,28,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(50805054)
国家自然科学基金国际(地区)合作与交流资助项目(50910157)
中国博士后科学基金面上资助项目(20090450721)
关键词
绳牵引
并联机器人
不完全约束
微分平坦
wire-driven
parallel robot
incompletely restrained
differential flatness
