【摘要】 研究一种三自由度平动并联机器人机构特点,在求解其运动平台工作空间达到指定范围基础上,应用蒙特卡罗(MonteCarlo)方法近似得到全局条件指数,以此作为主要优化指标,获得运动灵活性和尺寸值达到最优时的结构参数。提出了一种新并联机器人运动学仿真法,用优化后所得结构参数在Envision软件上进行了仿真方法研究和验证。更多还原

【Abstract】 In this paper,a novel simulation method of the traditional parallel robot was presented using the optimization result of its structure parameters,which was acquired by learning the mechanism characteristics of a three DOF translational parallel robot and using one optimization method based on the Monte Carlo numerical approximation so as to satisfy both workspace requirement of moving platform and dexterity of the manipulator.Also,the method was finally validated under envision simulation software environment.更多还原