基于SimMechanics的2UPS-RPU并联机构的运动学仿真研究
首发时间:2012-11-15
摘要:并联机构的机电耦合模型是非线性、强耦合、多输入、多输出的复杂机电模型。本文运用Matlab中的SimMechanics模块对2UPS-RPU(含串联输入的并联机构)平台进行了机械系统仿真建模,并对平台的末端位置以及角速度进行了测量并获得了满意的结果,极大地方便了下一步对2UPS-RPU的控制系统分析。
关键词: 2UPS-RPU 并联机构 SimMechanics
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2UPS-RPU Parallel Manipulator Kinematics Simulation Research Based on Simmechanics
Abstract:Electromechanical coupling model of the parallel manipulator is nonlinear, strong coupling, multiple input and multiple output. In this paper,the Matlab SimMechanics module was used in the mechanical system simulation and the mechanical model of 2UPS - RPU (including serial input parallel manipulator) platform was established. At the end of the platform location,the angular velocity is measured and satisfactory results is obtained.
Keywords: 2UPS-RPU SimMechanics Parallel manipulator
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