摘要
根据6-PTRT并联机器人的机构及约束特点,建立运动学位置反解方程组,并以此为基础建立运动学位置正解方程组。通过对并联机构的深入研究,利用机构本身特点将位置正解方程组由6维降为3维,将解3维非线性方程组转化为求解最优化问题,利用粒子群算法计算出运动学位置正解。由仿真及验算,验证了数学模型的正确性。此方法具有高效、易收敛、不依赖初值等特点,为6-PTRT并联机器人的实时控制提供了理论基础。
The inverse solution equation set is established according to the mechanism and constrained characteristic of 6 -PTRT parallel robot, and the kinematics forward solution equation set is established. Through the further study of the parallel mechanism, the forward solution equations are reduced by six - dimen＇ sion to three -dimension by using the raechanism own characteristic. The three -dimensional forward solution equations is transformed into solving the optimization problems, and the forward solutions are calculated by using PSO algorithm. The correctness of the mathematical model is verified by comparing between the experi- mental results and simulation results, qYhis method has the advantages of high efficiency, easy convergence, doesn＇t depend on the initial value, and the theoretical basis for the real - time control of 6 - PTRT parallel robot is provided.
出处
《机械传动》
CSCD
北大核心
2015年第7期47-52,共6页
Journal of Mechanical Transmission
