【摘要】 论文对一种三平移并联机器人进行了运动学建模,运用矩阵计算方法得到其机构运动学反解,即根据终端执行器的运动规律,求出原动件在单位时间内的位移,进而求得步进电机在单位时间内所发的脉冲数。实验验证该步进电机控制算法的正确性,为并联机器人的运动控制提供了理论方法。更多还原

【Abstract】 This paper deals with a kind of 3-dof translational parallel mechanism kinematics modeling.The Inverse kinematics is obtained by using the matrix method.According to the movement of the terminal actuators,the displacement of the moving parts in unit time is calculated,then the number of pulse of the stepper motor in unit time is calculated.The correctness of the stepper motor control algorithm is verified by the experiments.It provides a theoretical method for parallel robot motion control.更多还原