Study on the Workspace and Structural Parameter of 3-RPS Parallel Robot

Pu Zhixin; Li Yanmei; Yu Yinghua

doi:10.16578/j.issn.1004.2539.2015.01.042

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Study on the Workspace and Structural Parameter of 3-RPS Parallel Robot

更新时间：2022-10-20

- Study on the Workspace and Structural Parameter of 3-RPS Parallel Robot
- Vol. 39, Issue 1, Pages: 17-21(2015)
- 作者机构：
  
  1. 辽宁工程技术大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.01.042
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[1]蒲志新,李艳梅,于英华.3-RPS并联机器人工作空间分析及参数研究[J].机械传动,2015,39(01):17-21.

Pu Zhixin, Li Yanmei, Yu Yinghua. Study on the Workspace and Structural Parameter of 3-RPS Parallel Robot. [J]. 39(1):17-21(2015)
[1]蒲志新,李艳梅,于英华.3-RPS并联机器人工作空间分析及参数研究[J].机械传动,2015,39(01):17-21. DOI： 10.16578/j.issn.1004.2539.2015.01.042.

Pu Zhixin, Li Yanmei, Yu Yinghua. Study on the Workspace and Structural Parameter of 3-RPS Parallel Robot. [J]. 39(1):17-21(2015) DOI： 10.16578/j.issn.1004.2539.2015.01.042.

摘要

针对3-RPS并联机器人的结构特点,运用Pro/E建立机构的三维模型。采用新型数值算法求得机构的运动学逆解,在此基础上借助MATLAB软件运用极限搜索法对工作空间进行了仿真。仿真结果与采用欧拉角的算法进行对比。分析了机构参数对机构工作空间的影响,求出机构参数范围内工作空间的最大体积值。

Abstract

The three-dimensional model is built based on the structure characters of 3-RPS parallel robot through using Pro/E software.The inverse kinematics of the mechanism is obtained by using a new numerical algorithm,and the limit searching method is used to simulate the workspace through using MATLAB software.The simulation results are compared with the Euler angle algorithm.The influence of mechanism parameters on the workspace is analyzed,and the maximum volume of workspace in the parameter range is derived.A foundation for parallel robot parameter optimization and path planning is Laid.

关键词

并联机器人工作空间机构参数

Keywords

Parallel robotWorkspaceMechanism parameter

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