郑州轻工业学院学报（自然科学版）Issue(6)：67-72,6.DOI:10.3969/j.issn.2095-476X.2013.06.016
基于螺旋理论的3-RRS 并联机器人运动学分析
Kinematics analysis of the 3-RRS parallel robot based on screw theory
毕亚东1
作者信息
- 1. 安徽国防科技职业学院 机械工程系，安徽 六安 237011
- 折叠
摘要
Abstract
A new type of 3-RRS parallel robot kinematics analysis method was proposed.Based on the screw theory,a 3-RRS parallel robot kinematics and anti-helix spiral model was established,obtaining the freedom of movement through the model analysis and Kutzbach Grubler calculated results,deriving a paral-lel position of the robot inverse solution models.Using Newton′s iterative method of simulation software Matlab,the first positive solution and then inverse solution and then inverse solution after the first positive solution were calculated to verify the numerical accuracy.The 3-RRS method also applied to other parallel robots,and had application value.关键词
螺旋理论/并联机器人/运动学分析/正反解/运动自由度Key words
screw theory/parallel robot/kinematics analysis/positive and inverse solution/freedom of movement分类
信息技术与安全科学引用本文复制引用
毕亚东..基于螺旋理论的3-RRS 并联机器人运动学分析[J].郑州轻工业学院学报（自然科学版）,2013,(6):67-72,6.
