基于ADAMS的3-RPS型并联机器人位姿的正解与逆解

以ADAMS软件为基础,给出了一种基于ADAMS的求解3-RPS型并联机器人位姿的正解与逆解方法.先给定机械手的位姿,经过仿真测量得出驱动杆的位移时间曲线,用后处理模块对测量得到的曲线进行处理,得到驱动杆位移样条函数,从而得到逆解.把得到的逆解作为驱动加在驱动杆上进行仿真,得到机械手的位姿,经过仿真测量得出机械手的位移曲线,经过后处理模块对测量得到的曲线进行处理,得到机械手的位姿样条函数,从而得到正解.这种方法不需大量的数学计算和计算机语言编程工作,非常快捷、方便、准确.从分析结果可以看出这种分析方法所得到的解完全可以用到实际中.

Normal and Inverse Pose Solutions to 3-RPS Parallel Robot Based on ADAMS

Based on ADAMS software,a way to get both normal and inverse pose solutions to 3-RPS parallel robot was put(forward.) With the pose of manipulator given first,the time-dependent curves of driving link can be obtained through simulation.Then,the curves are processed by a postprocessing module of ADAMS to get the spline function of driving link displacement,thus getting the inverse solutions.Adding the inverse solutions as a drive to the driving link with a simulation conducted,the pose of manipulator can be gotten.The normal solution is got the way the displacement curve of manipulator,measured via simulation,is processed by the postprocessing module,so as to determine the spline function of manipulator's pose hence the normal solution.In such a way no big amount of workload is required in programming and computation,featured with fast,convenient and exact,and both normal solution and inverse solution can be used in practice.