摘要
基于螺旋理论,分析3-RCR并联机器人的机构构型,得到该并联机器人的自由度。用三维建模软件ProE对该并联机器人进行建模,将机构模型导入到Adams中,基于Adams的虚拟仿真技术,验证机构的自由度,当该并联机器人动平台输出分别为圆轨迹和正方形轨迹时,对其进行运动学的仿真分析,分别得到驱动杆Part4、Part6、Part8的角速度、角加速度的变化规律,为3-RCR并联机器人后续的应用和研究提供了重要的参考。
Based on screw theory,we analyzed the mechanism of the 3-RCR parallel robot,obtained the degree of freedom of the parallel robot,and modeled the robot with the three-dimensional modeling software ProE.The model was then imported into Adams to verify the freedom of the mechanism.When the moving platform output of the robot was circular track/square track,the kinematics simulation analysis was carried out,and the variation rules of the angular velocity and angular acceleration of drive rods Part4,Part6 and Part8 were obtained.This study has provided important reference for future application and research of the 3-RCR parallel robot.
出处
《现代机械》
2020年第1期21-24,共4页
Modern Machinery
基金
福建省中青年教师教育科研项目(JAT170967).
关键词
并联机器人
螺旋理论
运动学仿真
parallel robot
screw theory
kinematics simulation
