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根据6-PTRT并联机器人的机构及约束特点,建立运动学位置反解方程组,并以此为基础建立运动学位置正解方程组。通过对并联机构的深入研究,利用机构本身特点将位置正解方程组由6维降为3维,将解3维非线性方程组转化为求解最优化问题,利用粒子群算法计算出运动学位置正解。由仿真及验算,验证了数学模型的正确性。此方法具有高效、易收敛、不依赖初值等特点,为6-PTRT并联机器人的实时控制提供了理论基础。
According to the mechanism and constraint characteristics of 6-PTRT parallel robot, an inverse kinematics equation set is established and based on this, a positive solution equation of kinematic position is established. Through in-depth study of the parallel mechanism, using the characteristics of the mechanism itself, the system of positional positive solutions is reduced from 6-dimensional to 3-dimensional, and the 3-dimensional nonlinear equations are transformed into solving the optimization problem. Particle swarm optimization . The simulation and verification verify the correctness of the mathematical model. This method is efficient, easy to converge and does not depend on the initial value, which provides a theoretical basis for the real-time control of 6-PTRT parallel robot.