Rostock型Delta并联机器人的运动学研究

Analysis of Kinematics in Rostock Delta Robot

对于Rostock直线驱动型的Delta并联机器人结构,目前大多数学者是通过几何法进行运动学分析,但是这种方法建立的模型无法直观地表达出各关节的转角,使用的D-H参数法则可以很好的解决这个问题。根据这种机器人结构的特点进行结构化简,并使用D-H参数法建立这种机器人结构的运动学模型,随后对该模型进行实验验证,并建立雅可比矩阵,为后面的动力学分析打下基础。

A lot of scholar use geometry to analyze the kinematics of the Rostock linear Delta parallel robot.The model built from this method cannot express the rotation of all joint,but the D-H parameters method can.This paper simplifies the structure of this robot based on its feature,and uses D-H parameters method to set up its kinematics model.Then verifying this model and building the Jacobian matrix.It will lay the groundwork for the analysis of the dynamics.