| 基于ADAMS软件的3-RRC并联机器人运动学正解仿真分析 |
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| 引用本文： | 崔玉秀,田洪钧,崔炜.基于ADAMS软件的3-RRC并联机器人运动学正解仿真分析[J].江苏机械制造与自动化,2008,37(1):68-70. |
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| 作者姓名： | 崔玉秀 田洪钧 崔炜 |
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| 作者单位： | [1]聊城阿华制药有限公司,山东聊城252000 [2]中国联通邯郸分公司,河北邯郸056001 [3]中国水利水电科学研究院,北京100038 |
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| 摘 要： | 应用ADAMS软件建立3-RRC并联机器人模型，并进行运动学仿真，使用测量工具求得并联机器人位置逆解，使用样条曲线和样条函数通过仿真求得位置正解，借助于仿真软件求得运动学正解方法快速准确，为实际的样机调试和控制提供了有意义的借鉴。
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| 关 键 词： | 3-RRC并联机器人 ADAMS 运动学 位置正解 |
| 文章编号： | 1671-5276（2008）01-0068-03 |
| 收稿时间： | 2007-07-27 |
Direct Kinematics Solution Analysis and Simulation of 3-RRC Parallel Robot Based on ADAMS |
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| CUI Yu-xiu, TIAN Hong-jun, CUI wei.Direct Kinematics Solution Analysis and Simulation of 3-RRC Parallel Robot Based on ADAMS[J].Jiangsu Machine Building & Automation,2008,37(1):68-70. |
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| Authors: | CUI Yu-xiu TIAN Hong-jun CUI wei |
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| Abstract: | Multi-body model of a 3-RRC parallel robot is built and Kinematic simulation is carried out based on the software ADAMS, Through the measuring tools and spline function, the direct kinematics solution of 3-RRC parallel robot is worked out. It is proved that the direct kinematics solution method of 3-RRC parallel Robot presented is effective and rapid. |
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| Keywords: | 3-RRC parallel robot ADAMS kinematics direct kinematics solution |
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