摘要
并联机器人一般由多条运动轴组成,具有响应快、刚性好、精度高等优点,但是由于其机械结构的复杂性导致其也存在着明显缺点,如各支链之间存在相互耦合使得工作区域内存在奇异位形,加入冗余度可以消除奇异位形从而改善它的几何特性,冗余并联机器人作为一种新型的机器人形式得到了越来越多的重视,基于三自由度冗余驱动并联机器人提出一种控制研究方法,主要从冗余并联机器人的运动学模型、工作空间、MATLAB仿真及其控制软件开发等主要方面进行了深入细致的研究。
Parallel robot usually consists of multiple axes,has advantages of fast response,good rigidity and high precision,but also due to the complexity of its mechanical structure exists obvious shortcoming,such as the mutual coupling between the branched chain makes the work area is the singular form,add redundancy can eliminate singular configuration so as to improve its geometric features,redundant parallel robot as a new form of robot has attracted more and more attention,based on the 3-dof redundant drive put forward a kind of parallel robot control methods,mainly from main aspects:the redundant parallel robot kinematics model,the workspace,Matlab simulation and its control software development carried on the thorough careful research.
引文
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