摘要
并联机器人工作空间的求解是一个比较复杂的问题.以3PRS-f并联机器人为研究对象,分析影响其工作空间的约束条件,得出了末端执行点与动平台中心的关系,并基于3PRS并联机构的运动学反解方程,提出一种空间点的搜索方式,建立工作空间的求取模型,然后用Matlab软件进行仿真.
Solving the workspace of a parallel robotis a complex problem. Taking 3PRS-f parallel robot as the research object ,the constraints conditions were analyzed for the robot＇s workspace. The relationship was obtained between the end actuator P and the center point c of the moving platform. Based on the 3PRS parallel mechanism inverse kinematics equations, a method for searching spacepoint was put forward. The workspace calculation model of the3PRS-f parallel robot was built, and then the workspace was simulated by Matlab software.
出处
《湖北工业大学学报》
2013年第1期8-11,共4页
Journal of Hubei University of Technology
关键词
并联机器人
工作空间
建模
仿真
parallel robot
workspace
modeling
simulation
