开放式三自由度并联机器人机构实验平台的研究和展望

Research and Prospect of the Open Experiment Platform for the 3 - DOF Parallel Robot

随着并联机器人技术的发展,具有三自由度的并联机器人机构也得到越来越广泛的研究和应用。本文对我们自行设计的开放式三自由度并联机器人机构实验平台的基本结构、运动控制和仿真作了较为全面的介绍,并着重分析了实验平台的开放性。该实验平台很适合作多种三自由度机器人机构的综合和比较研究,针对此类机构的进一步研究对实际应用有着重要意义。

With the development of parallel robot technology, 3 - DOF parallel robotic mechanism has also gotten more and more wide attention in the research and industrial application. Aiming at the experiment platform of 3 - DOF parallel robotic mechanism designed by us, in this article we give a general description of its radical structure, motion controlling and simulating, and provide further theoretic analysis of its opening. This experiment platform can serve as a experiment platform on which we can do some compositive and comparative research on 3 -DOF parallel robotic mechanism and is of important significance in the further study and application of this kind of mechanism.