Research of the Position Forward Solution of 6-PTRT Parallel Robot

Xu Jing; Deng Zilong; Zheng Dongzhi

doi:10.16578/j.issn.1004.2539.2015.07.012

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Research of the Position Forward Solution of 6-PTRT Parallel Robot

更新时间：2022-10-20

- Research of the Position Forward Solution of 6-PTRT Parallel Robot
- Vol. 39, Issue 7, Pages: 47-52(2015)
- 作者机构：
  
  1. 辽宁石油化工大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.07.012
  CLC：
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[1]徐靖,邓子龙,郑东志.6-PTRT并联机器人的位置正解研究[J].机械传动,2015,39(07):47-52.

Xu Jing, Deng Zilong, Zheng Dongzhi. Research of the Position Forward Solution of 6-PTRT Parallel Robot. [J]. 39(7):47-52(2015)
[1]徐靖,邓子龙,郑东志.6-PTRT并联机器人的位置正解研究[J].机械传动,2015,39(07):47-52. DOI： 10.16578/j.issn.1004.2539.2015.07.012.

Xu Jing, Deng Zilong, Zheng Dongzhi. Research of the Position Forward Solution of 6-PTRT Parallel Robot. [J]. 39(7):47-52(2015) DOI： 10.16578/j.issn.1004.2539.2015.07.012.

摘要

根据6-PTRT并联机器人的机构及约束特点,建立运动学位置反解方程组,并以此为基础建立运动学位置正解方程组。通过对并联机构的深入研究,利用机构本身特点将位置正解方程组由6维降为3维,将解3维非线性方程组转化为求解最优化问题,利用粒子群算法计算出运动学位置正解。由仿真及验算,验证了数学模型的正确性。此方法具有高效、易收敛、不依赖初值等特点,为6-PTRT并联机器人的实时控制提供了理论基础。

Abstract

The inverse solution equation set is established according to the mechanism and constrained characteristic of 6- PTRT parallel robot,and the kinematics forward solution equation set is established.Through the further study of the parallel mechanism,the forward solution equations are reduced by six- dimension to three- dimension by using the mechanism own characteristic. The three- dimensional forward solution equations is transformed into solving the optimization problems,and the forward solutions are calculated by using PSO algorithm. The correctness of the mathematical model is verified by comparing between the experimental results and simulation results. This method has the advantages of high efficiency,easy convergence,doesn’t depend on the initial value,and the theoretical basis for the real- time control of 6- PTRT parallel robot is provided.

关键词

6-PTRT并联机器人位置正解方程组降维粒子群算法

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