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针对3-RPS并联机器人的结构特点,在Solidworks中建立机构的三维模型。采用新型的数值算法求解该机构的运动学逆解。在此基础上分别运用蒙特卡洛法和MATLAB仿真分析法求解机构的工作空间。并分析对比2种方法的优缺点。
According to the structural characteristics of 3-RPS parallel robot, a three-dimensional model of the mechanism is established in Solidworks. A new numerical algorithm is used to solve the inverse kinematics of this mechanism. On this basis, using the Monte Carlo method and MATLAB simulation analysis method to solve the agency’s work space. The advantages and disadvantages of the two methods are analyzed and compared.