河北工业科技2017，Vol.34Issue(3)：183-188,6.DOI:10.7535/hbgykj.2017yx03006
一种新型3-PRP并联机器人的运动学分析与仿真
Kinematics and simulation of a novel 3-PRP parallel robot
摘要
Abstract
Aiming at the problem of the difficulty to analyze the structure of traditional 3-DOF parallel robot,based on the analysis of structure and performance of the traditional parallel robot,a novel 3-PRP parallel robot is proposed.To effectively reduce the difficulty of the structure analysis,the linear modules are adopted to form two symmetrical moving pairs,with a rotation pair to take place of three rotation pairs of traditional 3-DOF parallel robot,and according to the structural characteristics of the new robot,the kinematic model is established.Then the forward and inverse kinematics solutions of robot are derived by space analytic geometry and vector algebra.At last,the correctness of the forward and inverse kinematics solutions are verified by MATLAB programming,and the workspace of the robot is established.The simulation results show that the robot has the characteristics of large workspace,high precision of kinematics model and low manufacturing cost,and has a wide range of industrial applications.关键词
机器人控制/3-PRP/并联机器人/运动学模型/仿真/工作空间Key words
robot control/3-PRP/parallel robot/kinematics model/simulation/workspace分类
机械制造引用本文复制引用
于振中,孙强,宁金..一种新型3-PRP并联机器人的运动学分析与仿真[J].河北工业科技,2017,34(3):183-188,6.基金项目
江苏省自然科学基金(BK20130159) （BK20130159）
