求解并联机器人加工自由曲面的实时速度/加速度
Journal Title: Science Paper Online - Year 2009, Vol 4, Issue 8
Abstract
提出一种新的计算机辅助变量几何法，用于实时求解一个3自由度3-UPRR并联机器人在模拟加工一个3D自由曲面过程中，各个驱动杆以及末端运动平台的速度/加速度解。首先，基于计算机辅助变量几何法建立3-UPRR并联机器人的模拟机构，并在此基础上建立用于加工任意3D自由曲面的模拟加工系统；其次，基于同一个固定平台构造其速度模拟机构以及加速度模拟机构；最后，求解出在加工3D自由曲面过程中实时的速度和加速度。经解析验证，模拟得到的结果完全正确。计算机辅助变量几何法不仅简单直观，而且省去了复杂编程的过程。
Authors and Affiliations
Jiayin Xu, Yi Lu
Keywords
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