摘要
以具有空间三平移自由度的3-RPC并联机器人作为研究对象,在Solid Works软件平台上进行了三维实体建模与虚拟装配,并将装配体导入ADAMS软件。根据输入与输出的映射关系,在动平台的参考点上给定一个输出轨迹,测得三个输入的位移、速度、加速度曲线,获得机器人运动学逆解。通过仿真验证机器人机构设计的正确性及在康复按摩医疗机器人领域应用的可行性。
A three translational degrees of freedom 3-RPC parallel robot was the research object. The 3D modeling and virtual assembly were built on Solid Works platform,with the assembly model imported into ADAMS software. According to the mapping relationship between the input and output,the output trajectory was given throught the reference points on the moving platform. The displacement,speed and acceleration curve of the three inputs were measured to obtain the inverse solution of the robot＇ s kinematics. Simulation results verify the correctness of the robot mechanism design and the feasibility of its application in rehabilitation massage medical robot.
出处
《常州工学院学报》
2016年第6期42-45,共4页
Journal of Changzhou Institute of Technology
基金
江苏省大学生创新创业训练项目(201611055036X)
关键词
并联机器人
康复按摩医疗机器人
仿真
parallel robot
rehabilitation massage medical robot
simulation
