基于Adams的并联打磨机器人复杂加工轨迹规划

摘要

研究了基于PMAC的三自由度并联打磨机器人,根据加工对象提出一种新的轨迹规划方法,该方法通过软件adams的逆向仿真实现原动件的轨迹规划.最后通过对并联机器人的运动学仿真,并做出误差分析,根据仿真结果说明这种方法对于并联机器人的可行性.%In this paper, the three degree barinder based on PMAC is studied, a new trajectory planning method is proposed according to the machining target, the trajectory planning of the original moving parts is achieved through the reverse simulation. Finally, a simple error analysis is created based on the kinematics simulation, and the feasibility of this method is explained by the simulation result and the error analysis.