| 3-RSR并联机器人运动学研究 |
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| 引用本文： | 陈文凯,刘平安.3-RSR并联机器人运动学研究[J].机械工程师,2005(10):32-34. |
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| 作者姓名： | 陈文凯 刘平安 |
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| 作者单位： | 华东交通大学,机电工程学院,江西,南昌,330013 |
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| 摘 要： | 在已有研究的基础上,给出了更为简单、完善的3-RSR并联机器人封闭正解,以及一般结构参数下的逆解和对称结构参数时的封闭逆解的求解方法.该机构运动学正解的最大数目为16组,逆解数目最多有8组,求逆解较其它三自由度并联机器人复杂.
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| 关 键 词： | 并联机器人 正向运动学 反向运动学 |
| 文章编号： | 1002-2333(2005)10-0032-03 |
| 收稿时间： | 2005-07-06 |
| 修稿时间： | 2005年7月6日 |
Kinematic Analysis of 3-RSR Parallel Manipulator |
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| CHEN Wen-kai,LIU Ping-an.Kinematic Analysis of 3-RSR Parallel Manipulator[J].Mechanical Engineer,2005(10):32-34. |
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| Authors: | CHEN Wen-kai LIU Ping-an |
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| Affiliation: | East China Jiaotong University,School of Mechanical and Electrical Engineering,Nanchang 330013.China |
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| Abstract: | This paper presents the close-form solution to direct kinematic problem,numerical solution to inverse kinematics for general configuration,and close-form inverse kinematics solution to symmetric configuration of 3-RSR parallel manipulators,based the robotics literature.The maximum number of the direct kinemic problem of this manipulator is sixteen with 8 inverse kinematics solutions at most.The inverse kinematics of 3-RSR parallel manipulator is more difficult than that of other 3-DOF parallel manipulators. |
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| Keywords: | parallel manipulator forward kinematics inverse kinematics |
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