| 3-TCT并联机器人运动学仿真 |
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| 引用本文： | 张宏涛,陈安军.3-TCT并联机器人运动学仿真[J].计算机仿真,2008,25(12). |
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| 作者姓名： | 张宏涛 陈安军 |
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| 作者单位： | 江南大学机械工程学院,江苏,无锡,214122 |
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| 摘 要： | 以Pro/E环境下建立的3-TCT并联机器人的模型为研究对象,在ADAMS/View模块下,对其添加约束和驱动后,进行运动学仿真.给定动甲台的位移,测量驱动杆杆长的变化曲线,利用ADAMS/Postprocessor模块对测量结果进行后处理,可得运动学逆解;以逆解得到的驱动杆杆长的变化曲线作为驱动,添加到驱动杆上可进行运动学正向求解.正逆解仿真结果对比表明,动平台正解时的运动轨迹和逆解时的运动轨迹完伞吻合.方法避免了大量的数学计算和计算机语言编程工作,通过CAE仿真软件实现了对并联机器人的运动学仿真,为并联机器人实际样机的调试和控制提供了一套有效的分析方法.
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| 关 键 词： | 并联机器人 运动学 仿真 |
Kinematics Simulation of 3-TCT Parallel Robot Mechanism |
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| ZHANG Hong-tao,CHEN An-jun.Kinematics Simulation of 3-TCT Parallel Robot Mechanism[J].Computer Simulation,2008,25(12). |
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| Authors: | ZHANG Hong-tao CHEN An-jun |
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| Affiliation: | ZHANG Hong-tao,CHEN An-jun(School of Mechanical Engineering,Jiangnan University,Wuxi Jiangsu 214122,China) |
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| Abstract: | This paper uses the Pro/Engineer to build a virtual prototype of 3-TCT parallel robot.The ADAMS/View is also used to build the joints and motions for the virtual prototype and then the kinematics simulations run.Given the displacement of the moving platform,the changing curves of driving links can be obtained through measuring their lengths.Then the inverse kinematics is solved by using the ADAMS/Postprocessor to process the result of simulations.Adding the changing curves of the driving links as the drives... |
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| Keywords: | Parallel robot Kinematics Simulation |
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