3-PRS+2P混联机构运动学分析

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英文篇名：Kinematics Analysis of 3-PRS+2P Hybrid Mechanism 作者：黄思 ; 朱万强 ; 杨建中 ; 陈雨 英文作者：Huang Si;Zhu Wanqiang;Yang Jianzhong;Chen Yu;National Numerical Control System Engineering Research Center,Huazhong University of Science and Technology; 关键词：并联机器人 ; 正运动学 ; 逆运动学 ; 同伦算法 英文关键词：Parallel robot;;Positive kinematics;;Inverse kinematics;;Homotopy algorithm 中文刊名：JXCD 英文刊名：Journal of Mechanical Transmission 机构：华中科技大学国家数控系统工程技术研究中心; 出版日期：2019-03-15 出版单位：机械传动 年：2019 期：v.43;No.267 基金：国家科技重大专项(2015ZX04002202)(2016ZX04002001-08);; 国家自然科学基金(51675204) 语种：中文; 页：JXCD201903020 页数：5 CN：03 ISSN：41-1129/TH 分类号：110-114

摘要

针对3-PRS+2P混联机构进行了运动学分析,运用几何法与坐标变换相结合的方法建立了该机构的逆运动学方程,并求出该机构的逆运动学解析解。将求刀位点位姿转化为求动平台三顶点坐标的方式,建立该机构的正运动学模型,同时采用双参数数值延拓同伦算法求出正运动学的数值解。基于Maple计算出逆解的解析表达式,解的结构简明且易于编程,基于Matlab编程实现正解迭代过程,数值解达到精度要求。运用UG与Matlab的联合建模、计算与仿真的方式验证了正逆解的正确性。
        The kinematics analysis of the 3-PRS+2P hybrid mechanism is carried out. The inverse kine-matics equation of the mechanism is established by combining the geometric method with the coordinate transfor-mation,and the analytical solution of the inverse kinematics of the mechanism is obtained. The position of thecutter location is transformed into the three vertex coordinates of the moving platform,and the positive kinemat-ics model of the mechanism is established. At the same time,the two parameter numerical extension homotopyalgorithm is used to find the numerical solution of the positive kinematics. The analytic expression of the inversesolution is calculated based on Maple. The structure of the solution is simple and easy to be programmed. The it-erative process of the positive solution is realized based on the Matlab programming,and the numerical solutionreaches the precision requirement. The correctness of the positive and inverse solutions is verified through themodeling,computation and simulation of UG and Matlab.

引文

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