摘要
提出一种新型机构3自由度3-PRRU三维平动并联机器人,应用Denavit-Hartenberg(D-H)方法建立了该机构的正解数学模型,构造了一个关于该机构运动平台位置参数的三元高次非线性方程组。利用matlab软件中提供的非线性方程组的求解函数fsolve,对该并联机器人进行正解的数值求解,通过实例验证该数值方法求解精度高,速度快。最后采用matlab软件编制绘图程序实现正解位形的可视化,同时也能验证所建立的正解数学模型的正确性。
This paper presents a new type of 3-DOF 3-PRRU translational parallel manipulator. Using the De- navit-Hartenberg method, the mathematical model comprised of nonlinear equations about the moving platform positional parameter is established for direct position. Using the fsolve function of matlab, the numerical solu- tion for direct kinematic problem is obtained and the results show that the numerical method is higher precise and rapid. Finally, the configuration visualization is implemented through programming based on the matlab sofeware. Then the accuracy of the mathematical model is tested simultaneously.
出处
《重型机械》
2013年第2期59-63,共5页
Heavy Machinery
基金
天津市应用基础与前沿技术研究计划(10JCZDJC22900)
