基于虚拟样机的倾斜导轨式3-PRS并联机器人的设计与分析

摘要

The 3-PRS parallel robot was studied and three driving sliders were arranged with inclined guide rails.Modeling,simulation,kinematic analysis of parallel robot were carried out on the ADAMS plat-form by using virtual prototype technology to obtain the motion characteristic curve of the mechanism,which provided a theoretical basis for parallel robot mechanism development and potential industrial application.%以3-PRS并联机器人为研究对象，采用倾斜导轨式布置3个滑块为驱动，应用虚拟样机技术，在SolidWorks和Adams平台上进行了并联机器人的建模、仿真和运动学分析，从而获得该机构的运动特性曲线，为并联机器人机构学的发展和潜在的工业应用提供了理论基础。