基于二维遍历搜索法的3RRR并联机器人运动学分析

doi:10.3969/j.issn.0255-8297.2016.06.013

应用科学学报 ›› 2016, Vol. 34 ›› Issue (6): 778-788.doi: 10.3969/j.issn.0255-8297.2016.06.013

基于二维遍历搜索法的3RRR并联机器人运动学分析

单宁, 班超, 程东方, 胡雪艳

武警工程大学装备工程学院, 西安 710086

收稿日期:2015-12-20 修回日期:2016-02-22 出版日期:2016-11-30 发布日期:2016-11-30
作者简介:单宁,副教授,研究方向:光电传感器设计、超声检测技术等,E-mail:ssnn3193@163.com
基金资助:
陕西省教育厅科研计划项目基金（No.16JK1339）；西安工程大学博士基金（No.BS15021）资助

Kinematic Analysis of 3RRR Parallel Robot Based on Two-Dimensional Traversal Search

SHAN Ning, BAN Chao, CHENG Dong-fang, HU Xue-yan

Equipment Engineering College, Engineering University of CAPF, Xi'an 710086, China

Received:2015-12-20 Revised:2016-02-22 Online:2016-11-30 Published:2016-11-30

摘要/Abstract

摘要：

通过研究3RRR 并联机器人的平面机构特点，用数值方法对其运动学正解进行分析求解，并用解析法对其运动学逆解进行分析求解. 通过MATLAB 仿真，用Pro/E 建模加以验证. 在运动学逆解基础上，运用二维遍历搜索法得到3RRR 并联机构的工作空间. 结论表明，当动平台的旋转角度φ为0°时，其工作空间最大；当旋转角度φ为β/2 时，其工作空间最小.该方法可减小求解工作量，提高计算效率.

关键词: 工作空间, 运动学, 并联机器人, 正逆解, 仿真

Abstract:

By studying characteristics of planar mechanism of a 3RRR parallel robot, a forward kinematics problem is analyzed and solved numerically. At the same time, an analytical method is used to analyze and solve the inverse kinematics problem. With MATLAB for simulation and calculation, the results are built into a corresponding model by Pro/E for verification. Based on inverse kinematics, workspace of the 3RRR parallel mechanism is obtained by using a two-dimensional traversal search method. The conclusion shows that, when the rotation angle of moving platform is 0, the workspace reaches a maximum, and when the rotation angle is π/2, the workspace is a minimum. The method can reduce workload in solving the problem and improve computational efficiency.

Key words: workspace, kinematics, parallel robot, forward and inverse solution, simulation

中图分类号:

TP242

单宁, 班超, 程东方, 胡雪艳. 基于二维遍历搜索法的3RRR并联机器人运动学分析[J]. 应用科学学报, 2016, 34(6): 778-788.

SHAN Ning, BAN Chao, CHENG Dong-fang, HU Xue-yan. Kinematic Analysis of 3RRR Parallel Robot Based on Two-Dimensional Traversal Search[J]. Journal of Applied Sciences, 2016, 34(6): 778-788.

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基于二维遍历搜索法的3RRR并联机器人运动学分析

Kinematic Analysis of 3RRR Parallel Robot Based on Two-Dimensional Traversal Search

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