| 基于3-RRRT的少自由度并联机械手运动学分析及其仿真研究 |
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| 引用本文： | 黄伟明,赵新华,李鹏.基于3-RRRT的少自由度并联机械手运动学分析及其仿真研究[J].天津理工大学学报,2014(4):32-35. |
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| 作者姓名： | 黄伟明 赵新华 李鹏 |
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| 作者单位： | 天津理工大学机械工程学院,天津300384 |
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| 基金项目： | 国家自然科学基金（51275353;51205289）; 天津市自然科学基金（12JCYBJC12200） |
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| 摘 要： | 通过运用虚拟杆件法对3-RRRT并联机器人的结构进行正确合理的分解,建立D-H坐标系,再运用齐次坐标变换的方法,建立了系统的运动学数学模型,并用MATLAB软件进行正反解求解,最后应用PRO/E软件进行运动学仿真证明了求解结果以及数学模型的正确性.
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| 关 键 词： | 3-RRRT并联机器人 齐次坐标变换 运动学仿真 |
Kinematic analysis and simulation based on 3-RRRT parallel manipulator |
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| HUANG Wei-ming,ZHAO Xin-hua,LI Peng.Kinematic analysis and simulation based on 3-RRRT parallel manipulator[J].Journal of Tianjin University of Technology,2014(4):32-35. |
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| Authors: | HUANG Wei-ming ZHAO Xin-hua LI Peng |
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| Institution: | (School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300384, China) |
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| Abstract: | A D-H coordinate system was built by the correct and reasonable analysis of 3-RRRT parallel manipula-tor with virtual link method, and then a mathematical model of kinematic could be established by using homoge-neous coordinate transformation method, the direct and inverse solutions were achieved by using the MATLAB soft-ware. At last, the solutions and the mathematical model would be proved right with PRO/E software. |
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| Keywords: | 3-RRRT parallel manipulator homogeneous coordinate transformation kinematics simulation |
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