三维动画技术应用于6自由度并联机器人的运动解耦

3-D Animation is Applied to Solving the Coupling Relations in 6-DOF Paraller Robot

如何在系统实时控制时间限制范围内精确、快速地实施解耦计算 ,是并联机器人实时控制中急待解决的一个关键问题。以往一般采用解析法 (先建立复杂的数学模型 ,然后计算机编程求解 ) ,但是这种解耦方法实际可行性较差。因此 ,寻求解耦新思路、新方法已成为并联机器人研究工作中急待解决的问题。这里就此问题 ,提出了利用三维动画技术进行运动解耦的新思路、新方法。该方法简捷方便 ,开发周期短 。

How to solve the coupling relations in 6 DOF parallel robot quickly and accurately within the limits of real time control is a critical problem. In traditional analytic method, the complicated mathematical model must first be constracted and then solved by programming. Obviously, this method is not very practical. This paper, therefore, proposes a new way of approach with a new method using 3 D animation to solving the coupling relations in 6 DOF parallel robot. This method is much simpler and its solving accuracy approaches that of conventional analytical method.