摘要
建立3-PRS型三足并联机器人模型,介绍其结构特点,依据其机构特点,分析其运动学约束方程,然后直接采用空间坐标变换法,建立其运动学位置逆解模型,最后举一实例对此逆解模型进行验证分析。运用此方法推导比较简单,易于程序化。
This paper sets up the model of a 3-PRS tripod, introduces its structure characteristic, according to the structure characteristic, analyses kinematics restriction equations, then adopts the space coordinate transformations directly, establishes the kinematics inverse displacement model, takes a example validate at last, The method makes it easy to formulate the kinematics relation, and it is easy to be computer routined.
出处
《机械工程师》
2008年第3期53-54,共2页
Mechanical Engineer
