In order to solve the problems such as the difficulty of solving the kinematics forward solution and the complexity of dynamics modeling of 3-DOF parallel robot,the kinematics model of the parallel robot was established by using a three-closed-loop vector method. The kinematics forward solution of the parallel robot was analyzed by using the threesphere intersection method. Dynamics modeling of the parallel robot was carried out by using the virtual work principle, which made the solution and modeling process simple, detailed and intuitive. The model was established in MATLAB, and the simulation verification was carried out in V-REP software. The physical environment was built, and the whole system was tested. The correctness and realtime of the kinematics and dynamics models were verified
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刘芳华,马凡凡,孙威.三自由度并联机器人运动学和动力学建模与仿真[J].机床与液压,2020,48(23):23-29. LIU Fanghua, MA Fanfan, SUN Wei. Kinematics and Dynamics Modeling and Simulation for 3-DOF Parallel Robot[J]. Machine Tool & Hydraulics,2020,48(23):23-29