| 四自由度并联机器人模型建立及运动学仿真 |
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| 引用本文： | 杜力,李川,徐强,李嵩.四自由度并联机器人模型建立及运动学仿真[J].机械设计与制造,2009(8). |
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| 作者姓名： | 杜力 李川 徐强 李嵩 |
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| 作者单位： | 1. 重庆工商大学废油资源化技术与装备教育部工程研究中心,重庆,400067
2. 重庆大学机械工程学院,重庆,400044 |
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| 摘 要： | 基于螺旋理论,运用四自由度对称并联机器人结构综合的方法,选择设计出一种2-RPS-2-UPS并联机器人.运用ADAMS软件建立了2-RPS-2-UPS四自由度并联机器人的模型,并进行了给定轨迹的运动仿真,得到了运动过程中执行构件的运动轨迹坐标值曲线.表明该四自由度并联机器人的运动是预定、可靠的.
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| 关 键 词： | 并联机器人 螺旋理论 结构综合 仿真 |
Modelling and Simulation for the four freedom parallel robots |
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| DU Li,LI Chuan,XU Qiang,LI Song.Modelling and Simulation for the four freedom parallel robots[J].Machinery Design & Manufacture,2009(8). |
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| Authors: | DU Li LI Chuan XU Qiang LI Song |
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| Affiliation: | 1Engineering Research Center for Waste Oil Recovery Technology and Equipment Ministry of Education;Chongqing Technology and Business University;Chongqing 400067;China;2School of Mechanical Engineering;Chongqing University;Chongqing 400044;China |
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| Abstract: | The 2-RPS-2-UPS parallel robots were designed base on the screw theory and the method by using the four freedom parallel robots structure synthesis method.The model of the 2-RPS-2-UPS four freedom parallel robots was established,and the movement simulation of the assigned path was performed by using the ADAMS software.The coordinate curve of the execution component in the rate process was obtained.The results show that the movement of the 2-RPS-2-UPS four freedom parallel robots is preconcerted and reliable... |
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| Keywords: | Parallel robot Screw theory Structure synthesis Simulation |
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