摘要
提出了一种具有三角形平台的3-PUU并联机器人机构。证明了该机构在初始位置和一般情况时,机构做三维平动。运用解析几何中的坐标变换和投影,得出一种有效求解位置反解的新方法,通过MATLAB软件对该方法进行了仿真和验证。3-PUU三维平动并联机器人作为圆形平台并联机器人的一种异构形式,其操作灵活性和运动性能都有较大的改善。该机构可用于快速夹持、移动和组装等方面。
This paper provided a 3-PUU parallel manipulator with triangle platform. And it has been proved that under the initial position and under general condition,this mechanism moves in three directions. It had put forward an effective new method to resolve the inverse position by using the conversion of coordinates and projection in analytic geometry, and the inverse position was simulated and verified by MATLAB. This mechanism is different from parallel manipulator with round platform, its mobility and motion have been improved . It can be used in the field of fast holding,motion and assembly,and has laid the foundation for studying its further applications.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2006年第17期1787-1789,共3页
China Mechanical Engineering
基金
山东省自然科学基金资助项目(Y2003F01)
山东省教育厅资助项目(J05C14)
山东理工大学科研基金资助项目(2004KJM05)
关键词
三角形平台
坐标变换
投影
位置反解
仿真
triangle platform
conversion of coordinates
projection
inverse position
simulation
