Kinematics and Workspace Analysis and Numerical Simulation of the 3-PRRRR Parallel Manipulator

Shi Mengrui; Zhaoxinhua

doi:10.16578/j.issn.1004.2539.2017.02.014

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Kinematics and Workspace Analysis and Numerical Simulation of the 3-PRRRR Parallel Manipulator

更新时间：2022-10-20

- Kinematics and Workspace Analysis and Numerical Simulation of the 3-PRRRR Parallel Manipulator
- Vol. 41, Issue 2, Pages: 66-70(2017)
- 作者机构：
  
  1. 天津理工大学机械工程学院
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2017.02.014
  CLC：
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[1]石梦蕊,赵新华.3-PRRRR并联机构运动学和工作空间分析与数值仿真[J].机械传动,2017,41(02):66-70.

Shi Mengrui, Zhaoxinhua. Kinematics and Workspace Analysis and Numerical Simulation of the 3-PRRRR Parallel Manipulator. [J]. 41(2):66-70(2017)
[1]石梦蕊,赵新华.3-PRRRR并联机构运动学和工作空间分析与数值仿真[J].机械传动,2017,41(02):66-70. DOI： 10.16578/j.issn.1004.2539.2017.02.014.

Shi Mengrui, Zhaoxinhua. Kinematics and Workspace Analysis and Numerical Simulation of the 3-PRRRR Parallel Manipulator. [J]. 41(2):66-70(2017) DOI： 10.16578/j.issn.1004.2539.2017.02.014.

摘要

工作空间是评价并联机构的性能和设计并联机构的重要指标。对3-PRRRR并联机构支链进行合理地简化,利用D-H矩阵建模及坐标变换法对3-PRRRR并联机构进行运动反解分析,获得该并联机构的运动反解方程,并利用MATLAB对其位置反解进行数值仿真。根据3-PRRRR并联机构的机构特点,选择扫描法对其工作空间进行分析,根据所得的位置反解方程,利用MATLAB软件,对得到的3-PRRRR并联机构的工作空间进行数值仿真,为进一步研究提供了一定的理论依据。

Abstract

The Working space is an important performance and design index in evaluating parallel manipulator.The 3-PRRRR parallel manipulator branched chain is simplified reasonably,by using the D-H method,the 3-PRRRR parallel manipulator inverse kinematic analysis is carried out,the equation of inverse kinematic analysis is obtained.By using the MATLAB,the numerical simulation of its inverse kinematic analysis is carried out.According to the characteristic of the 3-PRRRR parallel manipulator,by choosing the method of scanning,the equation of inverse kinematic analysis is carried out.The simulation of the workspace of the 3-PRRRR parallel manipulator is carried out by using MATLAB,a certain theoretical basis for the future study is provided.

关键词

并联机构运动分析工作空间MATLAB仿真

Keywords

Parallel ManipulatorKinematic analysisWorkspaceMATLAB simulation

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