摘要
研究了一种三自由度平动并联机器人的机构特点 ,并在此基础上提出了一种等效的并联机器人运动学仿真方法。最后 ,运用一组合理的并联机器人结构参数作为仿真原始数据 ,在Envision仿真软件上进行了仿真方法的研究和验证。
In this paper, a novel equivalent kinematics simulation method of the traditional Parallel Robot was presented after studying the mechanism characteristics of a three DOF translational parallel robot. Also, a set of effective structure parameters was used as the primal data of the method which was finally validated under Envision simulation software environment.
出处
《组合机床与自动化加工技术》
北大核心
2004年第2期13-15,17,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家 8 63机器人柔性自动化装配网点基金资助项目 (863 - 51 2 - 972 0 - 0 4 )
