| 一种用于并联机器人运动学求解的循环迭代方法 |
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| 引用本文： | 马国庆,刘丽,于正林,曹国华. 一种用于并联机器人运动学求解的循环迭代方法[J]. 长春理工大学学报(自然科学版), 2016, 0(1): 42-47. DOI: 10.3969/j.issn.1672-9870.2016.01.010 |
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| 作者姓名： | 马国庆 刘丽 于正林 曹国华 |
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| 作者单位： | 长春理工大学 机电工程学院,长春,130022;长春理工大学 机电工程学院,长春,130022;长春理工大学 机电工程学院,长春,130022;长春理工大学 机电工程学院,长春,130022 |
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| 摘 要： | 针对六自由度并联机器人运动学正解求解速度慢的问题，提出了一种基于循环迭代的运动学正解求解方法。以德国PI公司生产的H850六自由度并联机器人为研究对象，基于该型号并联机器人的结构特点，使用循环迭代方法进行运动学正解的求解，并利用Matalb进行求解计算，最后运用ADAMS仿真验证了此方法的正确性和高效性。为机器人的运动分析和轨迹规划奠定了坚实的基础。
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| 关 键 词： | 并联机器人 运动学正解 仿真实验 |
A Kind of Loop Iteration Method for Parallel Robot Kinematics |
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| MA Guoqing,LIU Li,YU Zhenglin,CAO Guohua. A Kind of Loop Iteration Method for Parallel Robot Kinematics[J]. Journal of Changchun University of Science and Technology, 2016, 0(1): 42-47. DOI: 10.3969/j.issn.1672-9870.2016.01.010 |
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| Authors: | MA Guoqing LIU Li YU Zhenglin CAO Guohua |
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| Abstract: | To solve the problem of 6-DOF parallel robot kinematics positive solutions has slow speed, we proposed a fast solution based on kinematic Positive Solutions of iteration method. Which saw the German PI company's PI-H850 six degree of freedom parallel robot as the object of study, according to the structural feature of this type of parallel robot,proposed a fast solution based on kinematic Positive Solutions of iteration method,used the Matalb to solve cal-culation, whose correctness and efficiency was verified by using ADAMS software. laid a solid foundation for analysis and trajectory planning of robot movement. |
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| Keywords: | parallel robot kinematic positive solutions simulation experiment |
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