| 一种冗余并联机器人的运动学及工作空间分析 |
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| 引用本文： | 朱彩红.一种冗余并联机器人的运动学及工作空间分析[J].南通职业大学学报,2011,25(1):88-92. |
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| 作者姓名： | 朱彩红 |
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| 作者单位： | 苏州市职业大学,电子工程系,江苏,苏州,215104 |
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| 摘 要： | 针对一种平面冗余2-DOF并联机器人,分析了其运动学正解和反解,并在运动学反解的基础上讨论了该机构工作空间的约束条件;提出了运用Matcom将Matlab和VC＋＋结合起来进行混合编程的方法,探讨了并联机构工作空间的形状,并得到基于VC＋＋开发的该并联机器人控制系统;仿真结果表明,该机构具有较好的工作空间,可广泛应用于工业装配机器人、虚拟轴并联机床和多维减振平台等领域。
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| 关 键 词： | 并联机器人 2-DOF并联机构 工作空间分析 Matlab仿真 混合编程 |
Analysis of the Kinematics and Workspace of a New Redundancy Parallel Robot |
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| ZHU Cai-hong.Analysis of the Kinematics and Workspace of a New Redundancy Parallel Robot[J].Journal of Nantong Vocational College,2011,25(1):88-92. |
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| Authors: | ZHU Cai-hong |
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| Institution: | ZHU Cai-hong(Department of Electronic Engineering,Suzhou Vocational University,Suzhou 215104,China) |
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| Abstract: | A redundancy 2-DOF parallel robot was investigated and the closed-formed solutions were developed for both inverse and direct kinematics.Based on the inverse solutions,constraint condition of the workspace was discussed.Multi-language programming of Matlab with VC＋＋ was used to plot the workspace.It is shown from the simulation that the robot has a satisfied workspace and can be widely applied in the field of industrial robots,virtual axis machine tools,and damping platforms. |
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| Keywords: | parallel robot 2-DOF parallel mechanism workspace analysis Matlab simulation Multi-language programming |
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