| 一种并联机器人的运动学建模方法的研究 |
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| 引用本文： | 刘平安,王铨,廖小东.一种并联机器人的运动学建模方法的研究[J].机械研究与应用,2014(1):114-118. |
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| 作者姓名： | 刘平安 王铨 廖小东 |
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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： | 并联机构形式多样，结构复杂，其运动学模型多为非线性方程组，建立和求解往往很复杂，要获得其位置分析封闭解更是具有较大难度。通过数值法建模后，运用连续法利用Matlab编程求解复杂并联机构的运动学问题，具有事半功倍的效果，为并联机器人运动学建模和求解提供了一种有效途径。
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| 关 键 词： | 并联机器人 位置分析 连续法Matlab |
Th e Study of Kin ematical Modeling Method for a Kind fo Paralel l Manipulators |
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| LIU Ping-an,WANG Quan,LIAO Xiao-dong.Th e Study of Kin ematical Modeling Method for a Kind fo Paralel l Manipulators[J].Mechanical Research & Application,2014(1):114-118. |
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| Authors: | LIU Ping-an WANG Quan LIAO Xiao-dong |
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| Affiliation: | (School of Mechatronics Engineering, East China Jiaotong University, Nanchang Jiangxi 330013, China) |
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| Abstract: | Parallel manipulator has a variety forms, the structure is complex, and its kinematic model mostly is nonlinear e-quations, their setting up and solving are often very complicated, so to get the position of closed-form solution is even more difficult.In this paper, through numerical modeling method, by using the continuous method and Matlab programming has a good effect to solve the complex problem of kinematics of parallel manipulator.It provides an effective way for the parallel ro-bot kinematics modeling and solving. |
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| Keywords: | parallel manipulator position analysis continuous method Matlab |
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