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为了解决钢带并联机器人运动学计算复杂等问题,对钢带并联机器人运动学模型进行了探讨。分析了现有的并联机器人运动学位置求解方法,阐述了钢带并联机器人工作原理与钢带并联机器人的运动位置逆解建模过程。采用瞬时速度方向逐次逼近法,建立钢带并联机器人的运动位置正解模型。分析了钢带长度计算中误差产生的主要因素,得出钢带长度与理论支撑件长度之间的计算关系。对位置逆解、正解模型进行了仿真验算,仿真实验结果表明位置正解、逆解模型的计算结果满足钢带并联机器人的运动精度要求。
In order to solve the complex kinematics calculation of strip parallel robots, the kinematics model of parallel strip robots is discussed. The method to solve the kinematic position of the existing parallel robot is analyzed. The working principle of the parallel robot with steel strip and the inverse solution modeling of the movement position of the parallel robot are discussed. The instantaneous speed direction successive approximation method is used to establish the positive solution model of the position of a parallel robot with steel strip. The main factors of the error in the calculation of the strip length are analyzed. The relation between the length of the strip and the length of the theoretical support is obtained. The inverse solution and the positive solution model are simulated and the simulation results show that the positive solution of the position and the inverse solution of the model satisfy the precision requirements of the parallel manipulator.