关键词: 并联机器人, ADAMS软件, 仿真, 运动分析, 正解, 逆解

Abstract: Based on ADAMS software, a way to get both normal and inverse pose solutions to 3-RPS parallel robot was put forward. With the pose of manipulator given first, the time-dependent curves of driving link can be obtained through simulation. Then, the curves are processed by a postprocessing module of ADAMS to get the spline function of driving link displacement, thus getting the inverse solutions. Adding the inverse solutions as a drive to the driving link with a simulation conducted, the pose of manipulator can be gotten. The normal solution is got the way the displacement curve of manipulator, measured via simulation, is processed by the postprocessing module, so as to determine the spline function of manipulator's pose hence the normal solution. In such a way no big amount of workload is required in programming and computation, featured with fast, convenient and exact, and both normal solution and inverse solution can be used in practice.