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

Abstract

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

CLC Number:

TP242

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

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