三维动画技术应用于6自由度并联机器人的运动解耦

如何在系统实时控制时间限制范围内精确、快速地实施解耦计算，是并联机器人实时控制中急待解决的一个关键问题。以往一般采用解析法（先建立复杂的数学模型，然后计算机编程求解），但是这种解耦方法实际可行性较差。因此，寻求解耦新思路、新方法已成为并联机器人研究工作中急待解决的问题。这里就此问题，提出了利用三维技术进行运动解耦的新思路、新方法。该方法简捷方便，开发周期短，其解耦精度与解析法相当接近。

3-D Animation is Applied to Solving the Coupling Relations in 6-DOF Paraller Robot

How to solve the coupling relations in 6 DOF parallel robot quickly and accurately within the limits of real time control is a critical problem. In traditional analytic method, the complicated mathematical model must first be constracted and then solved by programming. Obviously, this method is not very practical. This paper, therefore, proposes a new way of approach with a new method using 3 D animation to solving the coupling relations in 6 DOF parallel robot. This method is much simpler and its solving accuracy approaches that of conventional analytical method.