| 3-RRRT并联机器人位置分析 |
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| 引用本文： | 杨玉维,赵新华,雷奶华.3-RRRT并联机器人位置分析[J].天津理工大学学报,2004,20(3):52-56. |
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| 作者姓名： | 杨玉维 赵新华 雷奶华 |
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| 作者单位： | 天津理工学院,机械工程学院,天津,300191 |
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| 基金项目： | 天津市高等学校科技发展基金资助项目(020516)，天津市应用和基础研究计划重点基金资助项目(033803111) |
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| 摘 要： | 本文旨在研究和分析3 RRRT并联机器人位置的正、反解问题.运用了齐次坐标系法和空间矢量法对3 RRRT并联机器人机构进行了分析,用解析的方法给出了该并联机器人的8组位置反解,采用数值方法给出了该并联机器人的位置正解.并基于I deas系统下的实体模型,应用MATLAB语言及其优化工具箱,实例验证了该数学模型的正确性.
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| 关 键 词： | 三自由度 并联机器人 位置分析 |
| 文章编号： | 1004-2261(2004)03-0052-05 |
| 修稿时间： | 2004年3月5日 |
Position analysis of the 3-RRRT parallel manipulator |
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| YANG Yu-wei,ZHAO Xin-hua,LEI Nai-hua.Position analysis of the 3-RRRT parallel manipulator[J].Journal of Tianjin University of Technology,2004,20(3):52-56. |
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| Authors: | YANG Yu-wei ZHAO Xin-hua LEI Nai-hua |
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| Abstract: | This paper tries to solve the direct and inverse displacement problems of the 3-RRRT parallel mechanism. 4-dimension matrics and 3-dimension vector methods were applied to study the structure of this mechanism. Position equations were built by analyzing the relationship between the based platform and the moving platform. The direct and inverse displacement problems were solved and the set of roots were found out. 1 direct solution and 8 inverse solutions were got, and verify their validity by examples in the surroundings of i-deas and matlab and so on. Analytic method is used to analyze the inverse solutions and numeric method is used to analyze the direct solutions. |
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| Keywords: | 3-DOF parallel manipulator position analysis |
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