摘要
六自由度并联机器人的运动学分析是确定系统结构参数、作动器结构形式及其运动参数、选择伺服阀、确定系统流量的前提。本文根据并联机器人机构学原理 ,建立了系统运动的物理模型和数学模型 ,应用矩阵分析方法 ,完成了运动学分析和计算。文中最后以教学实验台为例 ,详细地论述了运动学的分析和计算方法 ,并根据计算结果 ,得到了作动器的行程。
Kinematics analysis of 6-DOF parallel robot is the basis of deciding structure parameters, actuator structure and its motion parameters, selecting servo valve, calculating system flow. In this paper, system physical model and mathematic model are build by machine principle, and kinematics analysis and calculation are finished by matrix method. In the end of this paper, the method of kinematics analysis and calculation is described in detail by the example of tutorial test platform. At the same time, they are concluded that the rules of the actuator stroke, velocity and its acceleration in the different poses.
出处
《机床与液压》
北大核心
2003年第3期70-72,共3页
Machine Tool & Hydraulics
基金
21 1工程重点学科建设项目
