三自由度并联机械臂运动学与仿真研究

2011 Second International Conference on Mechanic Automation and Control Engineering Pub Date : 2011-07-15 DOI:10.1109/MACE.2011.5988231

Hongjun Yang

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引用次数: 1

摘要

提出了一种由两个平台和三条腿组成的三自由度并联机器人。推导了机器人的位置变换矩阵，分析了机器人的正位解和反位解。然后采用影响系数法推导了运动学雅可比矩阵和Hessian矩阵。对该机构进行了运动学仿真，结果表明该机构在三个运动方向上具有较差的耦合性，适于调平平台。

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Research on kinematics and simulation of a three-DOF parallel manipulator

A three-DOF parallel manipulator was presented in this paper, which is constituted with two platforms and three legs. The position transformational matrix was deduced and the normal and inverse pose solutions to the manipulator were analyzed. Then the kinematic Jacobian matrix and Hessian matrix were derived by the method of influence coefficient. The kinematics simulation of the mechanism was carried out and the result shows it has poor coupling on the directions of three movements, which is appropriate for leveling a platform.

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来源期刊

2011 Second International Conference on Mechanic Automation and Control Engineering

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