摘要
针对六自由度并联机器人运动学正解求解速度慢的问题,提出了一种基于循环迭代的运动学正解求解方法。以德国PI公司生产的H850六自由度并联机器人为研究对象,基于该型号并联机器人的结构特点,使用循环迭代方法进行运动学正解的求解,并利用Matalb进行求解计算,最后运用ADAMS仿真验证了此方法的正确性和高效性。为机器人的运动分析和轨迹规划奠定了坚实的基础。
To solve the problem of 6-DOF parallel robot kinematics positive solutions has slow speed, we proposed a fast solution based on kinematic Positive Solutions of iteration method. Which saw the German PI company＇s PI-H850 six degree of freedom parallel robot as the object of study, according to the structural feature of this type of parallel robot, proposed a fast solution based on kinematic Positive Solutions of iteration method, used the Matalb to solve calculation, whose correctness and efficiency was verified by using ADAMS software, laid a solid foundation for analysis and traiectory planning of robot movement.
出处
《长春理工大学学报（自然科学版）》
2016年第1期42-47,共6页
Journal of Changchun University of Science and Technology(Natural Science Edition)
基金
吉林省科技发展计划项目(20140204058SF)
关键词
并联机器人
运动学正解
仿真实验
parallel robot
kinematic positive solutions
simulation experiment
