收稿日期: 2015-12-20
修回日期: 2016-02-22
网络出版日期: 2016-11-30
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
Received date: 2015-12-20
Revised date: 2016-02-22
Online published: 2016-11-30
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 . DOI: 10.3969/j.issn.0255-8297.2016.06.013
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
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