山东理工大学学报（自然科学版）Issue(5)：37-42,6.
新型3-PRRS 农业并联机器人运动学及工作空间分析
Kinematics analysis and workspace of a new 3-PRRS agriculture parallel mechanism
杜晴晴 1郭宗和 1牛桂平1
作者信息
- 1. 山东理工大学机械工程学院，山东淄博255049
- 折叠
摘要
Abstract
The new six‐DOF 3‐PRRS parallel mechanism was used in the fields of agriculture ro‐bot ,and it can be widely used in agricultural land ,weeding and sorting .First ,the kinematics in‐verse solution was studied by using the closed‐loop vector method ,and the analytic form of in‐verse kinematics was gained .Then three‐dimensional polar search method was used to study a giv‐en gesture boundaries and three‐dimensional map .Then workspace which was big ,non‐empty and inerratic was gained .And the single variable method was used to study variables influence of vari‐ous parameters on workspace ,which helped us to find their workspace variation ,and select the appropriate structural parameters .This study would to lay the foundation for the further optimi‐zation of agriculture parallel mechanism .关键词
并联机构/运动学/工作空间/六自由度Key words
parallel mechanism/kinematics analysis/workspace/6-DOF分类
机械制造引用本文复制引用
杜晴晴,郭宗和,牛桂平..新型3-PRRS 农业并联机器人运动学及工作空间分析[J].山东理工大学学报（自然科学版）,2015,(5):37-42,6.
