摘要
提出了一种新型3-RRPaR高速抓取并联机器人结构,对3-RRPaR高速抓取并联机器人实验平台进行运动学建模和分析。介绍了3-RRPaR高速抓取并联机器人实验平台的结构特点,建立了实验平台的运动学正反解模型,并通过Matlab数值计算和ADAMS虚拟样机仿真验证了运动学分析的正确性。
For a novel 3-RRPaR high-speed grasping parallel robot,an experimental platform is studied for its kinematics modeling and analysis.Firstly,the structural characteristics of 3-RRPaR high-speed grasping parallel robot experimental platform are introduced.Then the mathematical model of kinematic positive and inverse solutions of the parallel robot experimental platform is established.The correctness of the numerical calculation of kinematics analysis by Matlab and virtual prototype simulation by ADAMS is verified.
作者
陈修龙
盛永超
CHEN Xiulong;SHENG Yongchao(College of Mechanical and Electronic Engineering,Shandong University of Science and Technology,Qingdao 266590,Shandong,China)
出处
《实验室研究与探索》
CAS
北大核心
2021年第1期101-106,共6页
Research and Exploration In Laboratory
基金
山东省重点研发计划项目(2019GGX104011)
山东科技大学优秀教学团队建设计划资助(JXTD20180502)。
关键词
并联机器人
运动学反解
运动学正解
仿真验证
parallel robot
kinematic inverse solution
kinematic positive solution
simulation verification
