摘要
并联机器人运动学正解的封闭解问题到目前为止没有得到全面解决 ,常用的解决方案是采用基于代数方程组的数值解法 ,该方法不足之处是推导过程复杂 ,实际应用过程中存在多解取舍的问题 .为此运用空间几何学及矢量代数的方法建立了三自由度Delta型并联机器人的简化运动学模型 ,求解并联机器人运动学正解 .与基于代数方程组的求解方法相比 ,推导过程简单、直观 ,回避了并联机器人运动学正解多解取舍的问题 。
The closed-form direct kinematic solution of a general parallel robot has not been achieved yet. Currently the widely used algebra equations based method has the drawbacks of complicated derivation process and multiple solution selection problem. A simplified kinematic model of 3 DOF Delta parallel robot has been proposed for the adoption of the spatial geometry and vector algebra method to solve the direct kinematic problems. Compared with algebra equations based method, the proposed method has a concise and direct derivation process and the multiple solution selection problem has been avoided. The identical practical solution that fulfills the requirement of motion continuity can be directly obtained.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2003年第1期25-27,共3页
Journal of Harbin Institute of Technology
基金
国家高技术研究发展计划资助项目 ( 863 -2 0 0 1AA42 2 2 5 0 ) .
