MATLAB在并联机器人机构仿真中的应用.pdf

Vol. 16 No. 10 系 统 仿 真 学 报 2273 Oct. 2004 JOURNAL OF SYSTEM SIMULATION MATLAB 在并联机器人机构仿真中的应用 宁淑荣, 郭希娟 (燕山大学信息工程学院, 秦皇岛 066004) 摘 要 运用 Matlab 语言给出了平面 3RRR 并联机构三维仿真实体模型的简单画法及三维实体 模型的运动仿真 同时又运用微分法和影响系数两种算法仿真了机构的速度及加速度曲线 最后 从仿真图中直接分析了机构的奇异位型点 并说明了文献[7] 中运用新的性能分析方法所得出的机 构尺寸变化对机构性能影响的结论的实用性 这充分展现了Matlab 的科学计算可视化技术在机器 人领域的应用及发展前景 关键词 平面3RRR 并联机构 Matlab 仿真 奇异点分析 机构性能分析 文章编号 1004-731X (2004) 10-2273-03 中图分类号 TP391.9 文献标识码 A The Application of Matlab in Simulation of the Parallel Mechanism NING Shu-rong, GUO Xi-juan (Dep. of information engineering Yanshan University, Qinhuangdao 066004, China) Abstract: It is presented how to protract simply three-dimension simulation model and its motion curves of the plane parallel mechanism 3RRR with Matlab in this paper. At the same time simulation curves of this mechanism’s velocity and acceleration are rendered by using the two methods of differential and influence coefficient. Finally from simulation carves we directly analyze singularity location and verify the statements on mechanic dimension influencing mechanic performance in literature[7] by using a novel analyses method .It exhibits the broad prospect of application and development of VISC (visualization in scientific computing) of Matlab in the field of Robot research. Keywords: plane parallel mechanism 3RRR; simulation with Matla