| 2RPU_RPS并联机构运动学分析及仿真 |
| |
| 引用本文： | 李静,王梓睿,沈南燕,叶飞,耿亮.2RPU_RPS并联机构运动学分析及仿真[J].工业控制计算机,2020(3):66-67,86. |
| |
| 作者姓名： | 李静 王梓睿 沈南燕 叶飞 耿亮 |
| |
| 作者单位： | 上海大学机电工程与自动化学院;上海市智能制造及机器人重点实验室 |
| |
| 摘 要： | 从并联机构在实际应用中的运动控制出发,对2RPU_RPS构型的并联机构进行运动学分析及仿真。通过分析其结构约束条件,求解出机构的关节变量与末端姿态变量的关系,进而完成其逆运动学求解。在逆解的基础上,构建其正运动学模型。基于建立的运动学模型,分析其工作空间,并进行运动学仿真加以验证,为并联机构的实际应用提供理论指导。
|
| 关 键 词： | 并联机构 运动学 工作空间 运动学仿真 |
Kinematics Analysis and Simulation of 2RPU_RPS Parallel Robot |
| |
| Abstract: | The kinematic analysis and simulation of 2RPU_RPS parallel mechanism are carried out based on the kinematic control of parallel mechanism in practical application.By analyzing the structural constraints,the relationship between the joint variables and the terminal attitude variables of the mechanism is solved,and then the inverse kinematics is solved.Based on the inverse solution,the forward kinematics model is constructed.Based on the established kinematic model,the work space is analyzed and verified by kinematic simulation,which provides theoretical guidance for the practical application of parallel mechanism. |
| |
| Keywords: | parallel mechanism kinematics workspace kinematics simulation |
| 本文献已被 维普 等数据库收录！ |
|
