燕山大学学报2016，Vol.40Issue(5)：407-412,6.
直线驱动型Delta并联机器人运动学研究
Kinematic analysis of linear driven Delta parallel robot
摘要
Abstract
Compared with the rotation driven, the linear driven Delta parallel robot has larger work space and better structure stiffness, but study of linear driven Delta parallel robot kinematic analysis algorithm is less and the algorithms are more complicated. For this reason, an algorithm to solve the problem of kinematic is put forward by using the coordinate relation in this paper, which is based on the simplified linear driven Delta parallel robot. Firstly, the construction of the linear driven Delta parallel robot is simplified and a structure model is established. Then, the space coordinate system is set, and the structure relation of robot is transformed into the coordinate relation.Finally, The ternary quadratic equations are established according to the coordinate relation to solve the kinematics relation. Among them, the problem of multiple solutions of equation can be solved by setting constraint conditions.The experiment results show that the algorithm is simple and robustness, and it has better performance to use.关键词
直线驱动型/Delta并联机器人/运动学分析Key words
linear driven/Delta parallel robot/kinematic analysis分类
机械制造引用本文复制引用
葛晓楠,单东日..直线驱动型Delta并联机器人运动学研究[J].燕山大学学报,2016,40(5):407-412,6.基金项目
山东省科技发展计划项目 （）
