基于螺旋理论的3-RRS并联机器人运动学分析

Kinematics analysis of the 3-RRS parallel robot based on screw theory

提出了一种新的3-RRS并联机器人运动学分析方法:应用螺旋理论建立了螺旋和反螺旋模型,通过模型分析得其运动自由度与Kutzbach Grubler公式计算结果一致;推导了并联机器人的位置正反解模型,用仿真软件Matlab中牛顿迭代法进行了先正解后反解和先反解后正解计算,验证了数值的正确性.该方法同样适用其他并联机器人,具有应用价值.

A new type of 3-RRS parallel robot kinematics analysis method was proposed. Based on the screw theory, a 3-RRS parallel robot kinematics and anti-helix spiral model was established, obtaining the freedom of movement through the model analysis and Kutzbach Grubler calculated results, deriving a paral- lel position of the robot inverse solution models. Using Newton＇s iterative method of simulation software Matlab, the first positive solution and then inverse solution and then inverse solution after the first positive solution were calculated to verify the numerical accuracy. The 3-RRS method also applied to other parallel robots, and had application value.