3-PRS并联机器人工作空间分析
首发时间:2008-03-24
摘要:本文分析了3-PRS并联机器人机构的位置逆解及工作空间的约束条件,采用极限边界数值搜索法求解了3-PRS并联机器人工作空间,并利用Matlab对其工作空间进行三维仿真分析。由于工作空间是随着机构结构参数的变化而变化,分析了其主要参数变化对机构工作空间的影响。通过机构参数变化对工作空间的影响分析,为其最优工作空间设计奠定基础。
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Workspace Analysis of The 3-PRS Parallel Robot
Abstract:In this paper, analyses the inverse kinematic model and the workspace’s restraint condition of the 3-PRS parallel robot, searches the workspace of 3-PRS parallel robot by borderline limits numerical search method, and gets the 3 dimension simulation chart of workspace by Matlab. As workspace changed along with the configuration parameter’s change, analyses the influence of master parameter’s change to workspace. In the light of the influence analysis of parameter’s change to workspace, supports foundation for the future design of best workspace.
Keywords: parallel robot inverse kinematic model workspace
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No.1964121034412063****
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