四自由度并联机器人运动学分析

摘要

According to the actual situation of China's food production and packaging ,the high-speed parallel robot packaging system is constructed based on parallel robot ,machine vision and other advanced technology.Based on analyzing the geometric characteristics of the novel mechanism ,the kinematics model of the novel 4-DOF parallel mechanism is built .The explicit inverse kinematics solution of the mechanism is deduced,and the Newton-Raphson iterative method for solving process for the forward kinematics solution is built ,which provides a theoretical basis for the parallel robot real-time control.%针对我国食品生产与包装的实际情况，基于并联机器人、机器视觉等先进技术，构建面向食品生产与包装的高速并联机器人分装系统。充分考虑机构的几何特性，建立了新型四自由度并联机构的分析模型，推导了并联机构反解的显式解，建立了机构正解Newton-Raphson迭代求取算法。该方案可为并联机器人分装系统的实时控制提供理论基础。