Kinematics Simulation and Analysis of 3-RPS parallel robot on SimMechanics

摘要：

Compared with serial robots, because of some advantages, e.g. higher stiffness, errors will not accumulated, parallel robot has much potential use. To 3-RPS parallel robot, there are 3 controllable degrees of freedom (axis x, axis y, axis z, or angle x, angle y, axis z). It may be called position kinematics or posture kinematics. According to structural characteristics of the 3-RPS parallel robot, the mathematical model of the posture inverse kinematics is established. The simulation model is set up using the SimMechanics and Simulink module. The validity of the posture inverse kinematics is proved by comparing the two models. And during the motion simulation, the related kinetics data and motion animate are obtained.

关键词： 3-RPS parallel robot posture inverse kinematics simulation with SimMechanics

作者: Lingtao Yu Lixun Zhang Nan Zhang Shuo Yang Daoming Wang

作者单位: School of Mechanical and Electrical Engineering Harbin Engineering University Harbin,Heilongjiang Pr Offshore Oil Engineering Co.Ltd Tianjin 300452,CHINA

会议类型: 国际会议

会议名称: 2010 IEEE信息与自动化国际会议(ICIA 2010)

会议地点: 哈尔滨

会议语种:英文

页码: 1-5

在线出版日期: 2010-06-20（万方平台首次上网日期，不代表论文的发表时间）