6自由度3-PRPS并联机器人运动规划分析及仿真

6自由度3-PRRS机构是基于Stewart平台设计出来的一种特殊构型的新型并联机构。为了准确分析该机构运动学特性并从运动规划角度研究机构关键参数与机构运动的关系,建立了有效的运动学模型对机构进行分析,给出了位置反解,同时面向工程应用提出了运动规划,然后利用ADAMS软件进行仿真分析。其中建立了不同平台尺寸比率k的模型,对动平台施加运动来观察、研究比率k的变化对连杆运动产生的影响,给出了3-PRRS机构关键参数比率k与机构运动的关系。分析结果为该类型机构位置反解研究提供了可行路径,避免了大量的数学计算和编程工作,提高了工作效率;并有助于在3-PRRS机构设计中,针对不同应用场景合理选择不同的参数模型。

Motion planning analysis and simulation of a six D.O.F 3-PRPS parallel manipulator

3-PRRS manipulator is a special and new parallel configuration which designed based on the Stewart platform.In order to accurately analyze the kinematic characteristics and research the relationship between key parameters of the manipulator and its motion using the motion planning analysis measures,this paper presents a effective kinematic analysis of the manipulator,and gives the inverse position solution;also propose the motion planning for application,and then carry out a simulation using ADAMS software.Models of different size ratio k of platforms are found,to research that the impact of rods movement when changing the ratio of k and imposing the motion on the moving platform.Relationship between the key parameter of 3 PRRS manipulator ratio k and rods movement is given finally.This paper provides a practicable method for inverse position solution of the manipulator type,avoiding a lot of mathematical calculations and programming work and improving efficiency;And help to make a reasonable choice for different application situation with different parameter model in the 3-PRRS manipulator design.