中国机械工程2009，Vol.20Issue(20)：2481-2486,6.
基于CAD几何法的并联机器人运动参数求解
Solving the Kinematics Parameters of a Parallel Robot Based on CAD Geometry
摘要
Abstract
A CAD variation geometry approach was proposed for accurately solving the position -orientation, linear velocity/acceleration, and Euler angular velocity/angular acceleration of the parallel robot with six degrees of freedom. Based on the finite-difference method as the foundations, using the computer aided geometry constraints and dimension driving technique, a simulation mechanism of the parallel robot with Euler angles was created, and the position-orientation could be obtained. Then the linear velocity/acceleration simulation mechanisms and Euler angular velocity/ angular acceleration ones were created. When modifying the driving dimension of the six driving limbs, the configurations of the simulation mechanisms were varied correspondingly, and all of the kinematical parameters were solved automatically. The results show that the CAD variation geometry is fairly quick and straightforward, and is also advantageous from viewpoint of accuracy and repeatability.关键词
CAD变量几何法/并联机器人/运动学/欧拉角Key words
CAD variation geometry/ parallel robot/ kinematics/ Euler angles分类
信息技术与安全科学引用本文复制引用
许佳音,路懿..基于CAD几何法的并联机器人运动参数求解[J].中国机械工程,2009,20(20):2481-2486,6.基金项目
国家自然科学基金资助项目(50575198) （50575198）
