摘要
基于3-UPS并联机器人为研究对象,分析了基座与动平台之间支链连杆的长度对3-UPS并联机器人工作空间的限制。采用三维搜索法确定工作空间边界。通过Matlab编程绘制出3-UPS并联机器人的灵活工作空间,同时研究了并联机器人机构模型参数与工作空间之间关联性。为并联机器人的结构设计和进一步研究奠定了基础。
Based on 3-UPS parallel robot,the limits of the length of branched chain link between base platform and moving platform to the workspace of 3-UPS parallel robot is analyzed.The workspace boundary is determined by using boundary search method.The flexible workspace of 3-UPS parallel robot is then plotted through programming in Matlab,and then the relationship between mechanism model parameters and workspace of parallel robot is discussed.These works lay the foundation for structure design of parallel robot and further studying.
出处
《组合机床与自动化加工技术》
北大核心
2012年第6期38-41,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
教育部科学技术研究重点项目(212042)
黑龙江省高校新世纪优秀人才项目(1252-NCET-021)
黑龙江省教育厅科学技术计划项目(11541355)
