Tripod机器人运动学模型仿真

Simulation of Tripod Robot Kinematics Model

以Tripod并联机器人为研究对象,通过对Tripod机器人结构的分析建立出运动位移方程,推导出Tripod机器人的逆运动学求解模型。对运动位移方程进行分析,推导出雅可比矩阵并得到速度及加速度正解模型。采用三维实体建模软件(UG)建立出Tripod机器人的实体装配模型,并将三维模型导入机械系统动力学自动分析软件(Adams)中进行运动学仿真,通过给定路径和主动臂旋转角速度两种仿真方案,验证了运动学模型的准确性。

Taking Tripod parallel robot as study object, the motion displacement equatlon is established by analyzing its structure, and inverse kinematics solution model is derived. Through analyzing motion displacement equation, the Jacobi matrix is deduced, and the forward solution model of velocity and acceleration are obtained. The real assembly model of Tripod robot is constructed with applying 3D entity modeling software UG. 3D model is introduced into Adams in mechanic dynamics system for kinematic simulation. The accuracy of the kinematics model is verified by two simulation scenario of specified path and the active arm rotation speed.