3-TPT+RTPTR混合型机器人运动学分析

Kinematics Analysis of 3-TPT+RTPTR of Hybrid Robot

分析了3-TPT+RTPTR混合型机器人的结构,求得该机器人执行端的位置和速度正反解,对辅助支链进行了相应的运动学分析。利用Matlab的GUI模块及绘图功能,设计了求解该机器人运动学的人机交互界面。通过分析计算可以看出,机器人执行端的位置运动学只与3-TPT并联机构的主动输入有关,而执行端的转动仅与辅助支链RTPTR的输入有关。该分析结果对该机器人进行控制研究提供理论依据。

The structure of 3-TPT＋RTPTR of hybrid robot is analyzed,the locations of output point as well as positive and inverse solutions for speed are obtained.Also,the corresponding kinematics analysis for auxiliary chain is carried out.A man-machine interface is designed to work out the solutions for robot kinematics by using GUI module and drawing function of Matlab.According to analysis and calculation,the locations of output point are only related to the input of 3-TPT parallel mechanism.The rotation of output point only changed with the input of auxiliary chain RTPTR.By the analysis results,the theory basis for control research of the robot is provided.