三自由度并联机器人运动学分析与研究

Kinematic analysis of three-degree-of-freedom parallel robots

主要对三自由度Delta并联机器人进行逆运动学研究。首先在Delta机器人的动平台和静平台上分别建立动坐标系和静坐标系,根据其动静平台及各运动支链的结构特征建立其矢量方程,并由此推导其运动学方程,进一步推导出Delta并联机器人的逆运动学方程。逆运动学方程的两个解分别对应两种不同的机构构型,本文选择其中的一种构型作为研究对象。最后通过MATLAB和ADAMS联合使用对一个算例进行仿真分析,其仿真结果与预期结果一致,表明本文所采用的方法是可行的、正确的。

In this study we carried out inverse kinematic analysis of the three-degree-of-freedom Delta parallel robots.Firstly,the static coordinate system was established on the fixed platform,and the moving coordinate system was established on the moving platform.Vector equation was built based on the characteristics of the fixed platform,the moving platform and the limbs.Kinematic and inverse kinematic equations were then derived from the vector equation.The two different solutions of the inverse kinematic equation corresponded to the two different configurations of the Delta robot,and one of them was selected as the study object.Finally,an example was simulated by using MATLAB and ADAMS,and the simulation results were consistent with the predicted results,which verified the correctness and effectiveness of the method.