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对一种新型的3-■4自由度空间并联机器人进行了位置反解分析,建立机构输入运动副与工作点解析关系,在此基础上,利用Matlab软件构建机构的实体模型,模拟机构的实际运动,并利用微分法做出的机构的速度曲线、加速度曲线与影响系数法求出的速度曲线、加速度曲线进行分析比较,验证了影响系数法对少自由度并联机器人求解的正确性,同时也说明利用该仿真模型能够正确模拟机构的运动特性,为并联机构的优化设计提供依据。
An inverse analysis of a new type of 3 - 4 degree - of - freedom space parallel robot was carried out to establish the relationship between the input kinematic pair and the working point. Based on this, a solid model of the mechanism was constructed by Matlab software to simulate the actual Motion, and using the differential method to make the body’s speed curve, acceleration curve and the influence coefficient method to calculate the speed curve, acceleration curve analysis and comparison to verify the influence coefficient method for less degrees of freedom parallel robot to solve the correctness, but also It indicates that the simulation model can accurately simulate the movement characteristics of the mechanism and provide the basis for the optimization design of the parallel mechanism.