并联6-SPS机器人的影响系数及其应用

INFLUENCE COEFFICIENT MATRICES AND APPLICATION OF PARALLEL 6-SPS ROBOT MANIPULATOR

  • 摘要: 本文根据并联机构的特点,对位置反解直接求导,建立了并联6-SPS 机器人的一、二阶影响系数矩阵,解决了速度分析和加速度分析问题.为机器人的误差分析和动力学分析奠定了基础.所得的一、二阶影响系数矩阵的形式简单统一,特别实用于计算机计算.最后给出了实例计算.

     

    Abstract: In accordance with the character of parallel robot manipulator,and by dircct derivation for positioninverse sollution,the first-order and second-order influence coefficient matrices of a parallel 6-SPS ro-bot manipulator are established.And the problem of the velocity and acceleration analysis are thussolved,which lays a foundation for error and dynamic analysis.The first-order and second-order influ-ence coefficient matrices derived here are in simple and uniform expression,and are suitable for computercalculation.Finally,a numerical example is given.

     

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