【摘要】 讨论了具有三平移自由度的3—PRC并联机器人机构的运动分析。基于机构运动约束方程,得到机构位置逆解的解析表达式;通过对刚体平面运动和点的合成运动分析,建立机构控制构件与动平台速度和加速度关系,并以显函数的形式表示;运动学解形式简单,便于实时控制。更多还原

【Abstract】 The kinematics analysis of the three-degree-of-freedom 3-PRC parallel robot mechanisms is researched. Based on the motion-constrained functions of the 3-PRC parallel mechanisms,the inverse position solution of transnational parallel robot mechanisms are presented. The models of velocity and acceleration relationships between the movable platform and the actuator are deduced according to the analysis of the rigid plane motion and the point composite motion,and the relationships of forward and inverse kinematics are simple,it is easily to real-time control.更多还原