摘要
提出一种3-PUPU并联机器人机构,结合其结构特点,利用螺旋理论分析了该并联机器人末端执行器的自由度,采用三点坐标法为该机器人建立运动学模型,再利用解析法对机器人末端执行器进行运动学分析研究。最后根据一组算例通过MATLAB仿真得出该并联机器人末端执行器的位移、速度、加速度曲线,对理论推导的正确性加以验证。
A new 3-PUPU parallel robot is proposed,its mechanism characteristic is introduced. The degree of freedom of the parallel robot end executor is analyzed based on the screw theory,and the kinematics model of the robot is established by using the three coordinate method. The kinematics analysis and research of the robot end executor are carried out by using analytical method. Finally,according to a group of examples and using MATLAB,the displacement,velocity and acceleration of the parallel robot end actuator are got,and the correctness of the theory inference is validated.
出处
《机械传动》
CSCD
北大核心
2016年第6期12-17,共6页
Journal of Mechanical Transmission
基金
国家自然科学基金(51275052)
北京市自然科学基金(3131002)
关键词
并联机器人
螺旋理论
三点坐标法
运动学分析
Parallel micromanipulator
Screw theory
Method of three coordinates
Kinematics analysis
