3-DOF绳驱动并联机器人运动学建模及空间分析

摘要

研究并联机器人的结构参数与工作空间的关系。提出一种新型的三自由度绳驱动并联机器人，阐述并简化该机器人模型，在此基础上建立其正向运动学数学模型。利用数学工具Matlab对其工作空间进行仿真，结果表明该机器人的结构参数直接影响其工作空间，为机器人的结构开发奠定了理论基础。%The relationship between structural parameters and workspace parallel robot for parallel robot is researched .A new three-DOF wire-driven parallel robot is proposed, the robot model is explained and simplified.Based on that, its forward ki-nematics mathematical model is established.Its workspace is simulated by mathematical tool Matlab.The results show that the structure parameters of the robot directly influence its workspace,which establishes the theoretical foundation for the develop-ment of robot structure.