3-PRS并联机器人的工作空间研究与分析

摘要

For the complexity of parallel robot′s workspace,using screw theory to analyze the degrees of freedom of the 3-PRS parallel robot.It is known that there are three degrees of freedom including the rotation around the x-axis and y-axis and movement along the z-axis with the kinematical platform of the mechanism.According to the above matter,the mathematical model of the workspace is described by means of the close relationship between the mechanical vectors.Research and simulation are done by making use of Matlab software,and then the workspace of the 3-PRS parallel robot is obtained,which is symmetric and the internal cavity is not found.This method is also applicable to research the workspace and motion analysis of other parallel robots.%针对并联机器人工作空间的复杂性,以3-PRS并联机器人为结构模型,运用螺旋理论确定了该机构运动平台具有绕x轴和y轴的转动以及沿z轴的移动共3个自由度,在此基础上运用封闭力学矢量关系描述了该机构工作空间的数学模型,用Matlab软件进行研究和仿真,得到了该机器人的工作空间。结果表明：该工作空间具有对称性,内部无发现空洞。