【摘要】 研制了一种并联机械手装置,并对两台并联机械手对击小球的过程进行了研究。分析了该机械手的运动学问题,推导出其位置方程、速度方程。对机械手的运动和小球的运动建立了数学模型,并对机械手的位置、速度、角速度和运动轨迹进行仿真和试验。试验表明,该装置性能稳定、运动过程安全可靠,满足相关科研和教学使用要求。更多还原

【Abstract】 A parallel manipulator device is developed,and the process of two parallel manipulators hitting the ball is studied.The kinematics of the manipulator is analyzed,and its position equation and velocity equation are deduced. The mathematical models of the motion of manipulator and ball are established,and the position,velocity,angular velocity and trajectory of the manipulator are simulated and tested. The experimental show results that the device can run safely and reliably to meet the requirements of relevant scientific research and teaching.更多还原