论文部分内容阅读
运用型综合单开链理论对新型非对称全柔性机器人机构的型进行了分析综合,并通过ADAMS软件进行了运动输出类型的验证;对该机构的运动学的位置正解进行了理论分析,得出机构运动的位置正解方程,对理论分析的结果也进行了仿真模拟;型综合与仿真结果证明机器人机构仅能实现三维的平动;位置正解理论分析与运动学仿真结果显示机构具有良好的运动解耦特性.为全柔性并联机器人机构的运动控制的易操作性打下坚实的理论基础.
The type of the new asymmetric all-flexible robot mechanism was analyzed and synthesized by using the integrated single open-chain theory. The type of motion output was verified by ADAMS software. The positive solution of the kinematic position of the mechanism was analyzed theoretically. The position of mechanism movement is positive solution equation, and the result of theoretical analysis is also simulated. The result of type synthesis and simulation proves that the robot mechanism can only achieve three-dimensional translation. The theoretical solution of position positive solution and kinematics simulation show that the mechanism has good motion solution Coupling characteristics. To lay a solid theoretical foundation for the ease of operation of the fully flexible parallel robot mechanism.