东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2008, Vol. 29 ›› Issue (12): 1762-1765.DOI: -

• 论著 • 上一篇    下一篇

2DOF空间3-RPS并联机器人位置运动学混合算法

宋伟刚;任静;朱冠亚;   

  1. 东北大学机械工程与自动化学院;
  • 收稿日期:2013-06-22 修回日期:2013-06-22 出版日期:2008-12-15 发布日期:2013-06-22
  • 通讯作者: Song, W.-G.
  • 作者简介:-
  • 基金资助:
    国家自然科学基金资助项目(50775031)

A combinational positioning kinematic algorithm for 3-RPS parallel robot in 2-DOF space

Song, Wei-Gang (1); Ren, Jing (1); Zhu, Guan-Ya (1)   

  1. (1) School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, China
  • Received:2013-06-22 Revised:2013-06-22 Online:2008-12-15 Published:2013-06-22
  • Contact: Song, W.-G.
  • About author:-
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摘要： 空间2自由度并联机构可用于高作用力下精确控制姿态的两个分量的工作场合.建立了2自由度3-RPS并联机器人的位置运动学约束方程;对其正逆运动学算法进行了讨论.对求解并联机器人位置正解的杆长搜索法进行了改进,并结合解非线性方程组的拟牛顿法,提出了一种能解决方程组多解并且计算精度较高的混合算法,推导了2自由度3-RPS并联机器人位置反解的求解过程.通过实例验证了算法的正确性和所能达到的精度.

关键词: 并联机器人, 位置正解, 位置反解, 管道机器人, 混合算法

Abstract: The 2-DOF space parallel mechanism can be applied to the working occasions that two components are under high acting force and accurate attitude is in need. The positioning-kinematics constraint equations are thus given for the 2-DOF and 3-RPS robot, with its forward and inverse kinematic algorithm discussed. The rod-length-search method for the forward solution of parallel robot position is improved. Combining with the quasi-Newton method to solve nonlinear equations, a combinational algorithm able to solve multi-solution to equation set with high computational accuracy is presented to deduce the inverse solving process of the position of 2-DOF and 3-RPS parallel robot. Exemplifications verify the algorithm's validity and how accurate it can provide.

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