For the structure and kinematics characteristics of serial robots and 3PUU parallel robot mechanism, 3PUPU parallel robot mechanism was proposed. The geometry relationship of parallel robot mechanism was described in this study, which had three of the same branch and each branch within two slider as a drive under. Based on the analysis of kinematics theory of this mechanism, using, a virtual prototype of the robot was established by utilize SolidWorks, and the dynamic simulation was carried on in using ADAMS for the mechanism position. Through the simulation results,the correctness of the forward and inverse kinematics can be verified.
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马春生,汪辉,李瑞琴,任杰锶.一种3PUPU并联机构的位置分析与动态仿真[J].机床与液压,2017,45(11):1-4. . Position Analysis and Dynamic Simulation for a Kind of 3PUPU Parallel Mechanism[J]. Machine Tool & Hydraulics,2017,45(11):1-4