| 仿真方法在6自由度并联机器人运行中的应用 |
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| 引用本文： | 王立荣,徐雷麟.仿真方法在6自由度并联机器人运行中的应用[J].东华大学学报(自然科学版),1999(6). |
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| 作者姓名： | 王立荣 徐雷麟 |
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| 作者单位： | 中国纺织大学机械工程系 上海200051 |
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| 摘 要： | 介绍一种6自由度并联机器人基本结构及当前仿真技术的应用,对其进行了运动分析,结合其结构特点对系统进行线性化并求出位置逆解,建立了系统的状态方程,分析讨论了仿真技术在该机器人控制中的适用性.
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| 关 键 词： | 6自由度并联机器人 位置逆解 控制 仿真技术 |
Application of Simulation in Six - degree - of - freedom Parallel Robot |
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| Wang Lirong,Xu Leilin.Application of Simulation in Six - degree - of - freedom Parallel Robot[J].Journal of Donghua University,1999(6). |
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| Authors: | Wang Lirong Xu Leilin |
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| Abstract: | A kind of six - degree -of- freedom parallel robot and contemporary technology of simulation are introduced. According to the characteristic of the robot, the kinematic analysis and the linearization are carried out to find out the solutions of the spatial position of this system. State equation is established, and simulation technology applied in the robot' s control is discussed. |
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| Keywords: | six - degree - of - freedom parallel robot inverse positional solution control simulation technology |
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