一种并联机器人的运动学建模方法的研究

摘要

并联机构形式多样，结构复杂，其运动学模型多为非线性方程组，建立和求解往往很复杂，要获得其位置分析封闭解更是具有较大难度。通过数值法建模后，运用连续法利用Matlab编程求解复杂并联机构的运动学问题，具有事半功倍的效果，为并联机器人运动学建模和求解提供了一种有效途径。%Parallel manipulator has a variety forms, the structure is complex, and its kinematic model mostly is nonlinear e-quations, their setting up and solving are often very complicated, so to get the position of closed-form solution is even more difficult.In this paper, through numerical modeling method, by using the continuous method and Matlab programming has a good effect to solve the complex problem of kinematics of parallel manipulator.It provides an effective way for the parallel ro-bot kinematics modeling and solving.