六自由度3-PRPS并联机器人工作空间分析

摘要

以六自由度3-PRPS并联机器人为研究对象,根据其机构特点,对其进行运动学反解分析.在运动学反解的基础上运用搜索法得到满足各约束条件时该并联机器人在定姿态下的工作空间,并研究了并联机器人在约束条件与给定的球铰安装方式下,上、下平台的比值p对机器人工作空间的影响.%In this paper, a 6-DOF 3-PRPS parallel robot is chosen as the study object. According to its mechanical characteristic, this paper analyses the inverse kinematics of the robot. On the basis of the inverse kinematics, the workspace under a certain orientation is determined by the search method, which satisfies the constraint condition of the parallel robot. The influence of the ratio p of the upper and down platform on the workspace is studied under the conditions of the constraints and the given ball joints installation pattern.