现代制造工程Issue(6)：31-35,5.
Delta并联机器人运动学与动力学仿真研究
Kinematics and dynamics simulation analysis of Delta parallel robot
摘要
Abstract
Based on Delta parallel robot,its model is established by the Pro/E software.Through simplifying the institutional model,the kinematic equations are established by D-H matrix method,and the trajectory is planned according to the given motion trail of the moving platform.Then the drive angle of each branched chain is calculated in Matlab,so that the model and the calculation results are imported to ADAMS with constraint and drive added.Finally,the kinematics and dynamics are analyzed through simulation.According to the consistency of the theoretical result and the realistic result,the reference bases are provided for the Delta parallel robot design,optimization and motion control.关键词
D-H矩阵/Delta并联机器人/ADAMS软件/轨迹规划Key words
D-H matrix/Delta parallel robot/ADAMS/trajectory planning分类
信息技术与安全科学引用本文复制引用
宫赤坤,熊吉光,黄成林..Delta并联机器人运动学与动力学仿真研究[J].现代制造工程,2013,(6):31-35,5.基金项目
上海市教育委员会重点学科建设项目资助(J50503) （J50503）
