摘要
论文对3-PUU三平移并联机器人进行了运动学建模,并通过置换消元法推导出该机构位置正解的解析式,实验验证了正解算法的正确性,并利用正解解析式得出了该机构一些运动特性,为该类型并联机器人的实时反馈控制提供了理论依据。
The analytic expression of the positive solutions of mechanism position of the 3-PUU 3-d.o.f translational parallel robot is derived by kinematics modeling and the displacement elimination in this paper.The analytic positive solution algorithm is verified by the experiments,and used to obtained some movement characteristics of the mechanism,and provides theory basis for real-time feedback control of this type of parallel robot.
出处
《舰船电子工程》
2015年第10期62-64,共3页
Ship Electronic Engineering
基金
国家自然科学基金项目(编号:51275363)资助
关键词
三平移
机构
并联
机器人
运动学
正解
3-d.o.f translational
mechanism
parallel
robot
kinematics
positive solutions
