三自由度并联机器人的运动学仿真终稿.doc

毕业设计（论文） 三自由度并联机器人的运动学仿真 摘 要 少自由度并联机构是目前机器人研究领域的热门课题，目前许多学者开发出很多新机构，但新机构要进入实际的工程应用领域还需进行很多系 统的研究。 课题中对平面三自由度并联机器人（3RRR）进行了分析，描述了机构的特性，给出了机构的位置反解算法，利用黄真教授提出的虚设机构法建立了机构的一阶和二阶影响系数矩阵，实现了运动学建模；开发出基于 MATLAB 的分析与仿真软件，通过软件对该机构进行了运动学分析。然后运用MATLAB 的绘图技术及数据可视化技术给出了平面 3RRR并联机构的三维仿真实体模型的简单画法及实体的运动仿真，在计算机上从实体运动仿真图中直接验证了对平面3RRR机构进行性能分析所得的理论结果：(1)从机构运动中直接分析了机构的奇异位形点；(2)利用实体运动得到的仿真曲线同影响系数法得到的仿真的速度及加速度曲线的完全吻合，说明了利用黄真教授提出的虚设机构影响系数法进行少自由度机构运动分析的可行性。 最后在空间并联机构3RRR实体仿真软件基础上，基于MATLAB的GUI 技术，开发了与Windows相类似的界面窗口，简化了系统的应用，使其更易于被一般用户所接受。 关键词　3RRR 机构；运动分析；机构仿真 Abstract The lower-mobility parallel mechanisms are presently hot topics in the field of robotics research. A lot of scholars have open out varieties of novel mechanisms. But before they enter into the field of actual engineering applications comprehensive investigations must be done. In this paper a lower-mobility parallel symmetrical mechanisms—3RRR has been discussed chiefly including its mechanistic characteristic and its motion. Meanwhile its inverse kinematics on this kind of mechanisms is presented. Furthermore one-order and two-order influence coefficient matrices and kinematics model are erected based on nominal mechanism influence coefficient advanced by Pro. Huang. As well as we open up a set of performance analysis and imitating software. Secondly it is presented how to protract simply three-dimension solid simulation model and its motion of the plane parallel mechanism 3RRR with drawing and VISC (visualization in scientific computing) of MATLAB. From computer solid motion simulation we verify the theoretical conclusions on performance analysis. First we analyze directly their singularity poser from the model’ motion. Second Comparing to the simulating curves from solid motion with influential coefficient method they’re completely anatomized. These show it’s feasible that we analyze seldom-mobility’ motion performances with nominal mechanism influence coefficient advanced by Pro. Huang. Finally taking the spa