RPC并联机器人的运动轨迹规划与仿真-中国机械工程.PDF

189 2007 5 3- RPC 郭宗和 李连升 孙术华 山东理工大学, 淄博, 255049 : 对一种具有四角平台的3- RPC 并联机器 进行了结构分析, 应用并联机构逆运动学分析理 论, 对并联机构动平台的运动轨迹规划进行了推导, 提出了3- RPC 并联机构的运动学反解计算公式, 进而确定了动平台上某一点按预期轨迹运动时应在原动件上设定的运动规律借助U G 创建了该机构 的装配模型, 通过ADAM S 仿真对所规划的运动轨迹进行了验证 : ; ; ; : T H 112 : 1004 ) 132X( 2007) 09 ) 1036 ) 03 Trajectory Planning and Simulation on 3- RPC Parallel Mechanisms Guo Zon he Li Lianshen Sun Shuhua Shandon University of T echnolo y, Zibo, Shandon , 255049 Abstract: T he structure of a new 3- RPC parallel manipulator w ith tetra onal platform w as ana- lyzed herein. T he movable platform. s motion path of the 3- RPC parallel mechanism w as studied by usin the theory of inverse kinematics of the parallel mechanism, the computation formula of inverse kinematics was deduced, then the movement rules ex erted on the actuator w as achieved w hen one point of the movable platform w as movin on the desired trajectory . T he virtual prototype of this mechanism is created in U G softw ar e and the plannin trajectory is verified throu h simulation in AD- AM S at last . Key words: parallel mechanism; inverse position; trajectory plannin ; virtual prototype technolo y 0 引言 , , 3 , MPa = MS1 H MS2 H MS3 = 3 3 3 3 , t H t H t = t ( 1) 1 1 1 0 r 11 r 12 r 13 r [ 1O5] , MSi i ( i = 1, 2, 3) ;