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三自由度并联机器人运动学和动力学建模与仿真
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Kinematics and Dynamics Modeling and Simulation for 3-DOF Parallel Robot
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    摘要:

    为解决三自由度并联机器人运动学正解求解困难和动力学建模复杂等问题,利用一种三闭环矢量法建立并联机器人运动学模型,并且采用三球体交叉点法,对并联机器人的运动学正解问题进行分析;运用虚功原理对并联机器人进行动力学建模,使得求解和建模过程变得简单、详细和直观。在MATLAB中建立模型,并在V-REP软件中进行仿真验证,搭建物理环境,对整机系统进行试验研究,验证了运动学和动力学模型的正确性和实时性

    Abstract:

    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 threesphere 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 realtime 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

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  • 在线发布日期: 2021-02-20
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