Kinematics Simulation of a Tripod Parallel Universal Wrist

摘要：

The prototype of a new 3-DOF tripod parallel universal wrist was developed. Its structure, characteristics and applications were introduced. The inverse kinematics model was established by the vector and kinematics influence coefficient method. The schematic diagram of simulation was established through the software - MATLAB/Simulink. Based on the above model and diagram, the inverse kinematics simulation was made. The simulation curves under different initial conditions about angle, acceleration, velocity, displacement varying as time processed can intuitively reflect the kinematic relation between the parallel bars and the moving platform of this mechanism and this is valuable and significative for the further research.

关键词： Tripod parallel universal wrist Inverse kinematics MATLAB/Simulink Simulation

作者: ZOU Ping WU Guanglei YANG Xulei

作者单位: School of M Mechanical Engineering & Automation, Northeastern University, Shenyang, 110004, Liaoning School of M Mechanical Engineering & Automation, Northeastern University,Shenyang, 110004, Liaoning,

会议类型: 国际会议

会议名称: 第九届加工技术进展国际会议(9th International Conference on Progress of Machining Technology)

会议地点: 昆明

会议语种:英文

页码: 146-149

在线出版日期: 2009-04-25（万方平台首次上网日期，不代表论文的发表时间）