摘要
对基于3-UPS并联机构的六维控制器进行了运动学分析,计算求解了3-UPS并联机构运动学正解和反解,同时运用MATLAB软件对其进行了运动学仿真,仿真结果证明了机构运动学正反解的正确性.运动学分析结果将为六维控制器结构参数优化设计以及控制电路的设计提供理论依据.
The kinematics of the 6-DOF controller based on a kind of 3-UPS parallel mechanism is analyzed in this paper,the forward and inverse kinematics of the 3-UPS parallel mechanism is obtained according to the calculation.At the same time,motion simulation is carried out by means of MATLAB,the simulation result proves the forward kinematics is correct.The analysis of the kinematics will provide theoretic foundation for the 6-DOF controller on the optimizing design of the structural parameters and design of the control circuit.
出处
《山东理工大学学报（自然科学版）》
CAS
2012年第1期81-84,共4页
Journal of Shandong University of Technology:Natural Science Edition
基金
山东省优秀中青年科学家科研奖励基金资助项目(BS2011ZZ013)
关键词
并联机构
六维控制器
欧拉角
运动学
parallel mechanism
6-DOF controller
Euler angles
kinematics
