| 并联平面平动机器人运动学分析及其仿真 |
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| 引用本文： | 王冰,袁雷,李东阳.并联平面平动机器人运动学分析及其仿真[J].机床与液压,2007,35(7):213-216. |
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| 作者姓名： | 王冰 袁雷 李东阳 |
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| 作者单位： | 北华航天工业学院机械工程系,河北廊坊,065000 |
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| 摘 要： | 提出了一种具有2个自由度的新型并联平面平动机器人,该机器人的运动平台和静平台之间由2个相同的分支相联系,每一支链都含有2个平行四边形机构,所有运动副均为转动副,其优点是运动副简单、末端为一刚体的平动.本文分析了其位置正、反解,并对其运动进行了模拟仿真.该机器人可广泛应用于切削加工、零件搬运及空间机器人的平动部分等方面.本文的分析结果可用于该机器人的设计、轨迹规划及实时控制中.
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| 关 键 词： | 并联机器人 位置分析 运动学仿真 并联 平面 机器人运动学 分析 模拟仿真 Robot Parallel Planar Simulation 实时控制 轨迹规划 设计 结果 空间机器人 搬运 零件 切削加工 应用 反解 位置 |
| 文章编号： | 1001-3881（2007）7-213-4 |
| 修稿时间： | 2006-10-10 |
The Kinematics Analysis and Simulation of a Planar Parallel Transitional Robot |
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| WANG Bing,YUAN Lei,LI Dongyang.The Kinematics Analysis and Simulation of a Planar Parallel Transitional Robot[J].Machine Tool & Hydraulics,2007,35(7):213-216. |
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| Authors: | WANG Bing YUAN Lei LI Dongyang |
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| Affiliation: | Department of Mechanical Engineering, North China Institute of Astronautic Engineering, Langfang Hebei 065000, China |
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| Abstract: | A novel planar parallel manipulator with two degree of freedom was presented that employs two parallelogram mechanisms in each limb and all the joints are revolute joints. The outstanding characters of this mechanism are that the structure of joints is simple and the platform of the manipulator output to planar is translational motion. The forward and inverse resolution of position of the mechanism was given and the kinematics of the manipulator was simulated. The manipulator has wide application in the metal cutting, part handing, mobile base for a spatial manipulator, etc. The kinematics analyses and simulation can be used in the design, trajectory planning and real-time control of such device. |
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| Keywords: | Parallel manipulator Analysis of location Simulation of kinematics |
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