A method for determining the positive solution of a three-link parallel structure robot
A deterministic method and three-link technology, applied in instruments, special data processing applications, electrical digital data processing, etc., can solve problems such as difficulty in solving explicit analytic expressions, solution failure, missing real solutions, etc.
Active Publication Date: 2018-03-30
HENAN POLYTECHNIC UNIV
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Problems solved by technology
The inverse solution of 3-PRS parallel structure robot is easy to obtain, and the explicit analytical expression can be obtained; however, it is very difficult to solve the explicit analytical expression of the positive solution
However, in the numerical calculation method of the positive solution, as long as the iterative solution of the nonlinear equation or the optimization algorithm are used, the solution may fail or the real solution may be missed due to the initial value, the interval of the real solution, and the unreasonable setting of the optimization method.
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[0050] The present invention will be described below in conjunction with the accompanying drawings and specific embodiments.
[0051] Such as figure 1 , 2 As shown, the fixed coordinate system OXYZ is established on the base fixed to the three columns 2, and the coordinate origin O is placed in the triangle The center of the X-axis passes through the point , along the Y axis direction. three connecting rods , , is of length , , , the angles between the three connecting rods and the three columns 2 are respectively , , . then three spherical hinges , , The coordinates of can be expressed in vector form as
[0052]
[0053] (1)
[0054]
[0055] by three spherical hinges is a regular triangle, so
[0056] (2)
[0057] According to formula (2), the three included angles can be obtained , , , substituting the three angles into formula (1) to get , , The coordinates of the motion platform 1 and the coordinates o...
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The invention discloses a method for determining the positive solution of a three-link type parallel structure robot. The structure of the three-link type parallel structure robot mainly consists of a motion platform (1), three links (,,) and three columns (2 ), the motion platform (1) is respectively connected to three connecting rods (,,) through three spherical hinges (,,), and the three connecting rods (,,) are connected to three connecting rods (,,) through three cylindrical hinges (,,) The three sliding seats (3) are connected, and the three sliding seats (3) slide vertically on the three columns (2), and the three spherical joints (,,) are equilateral triangles. The present invention adopts the Monte Carlo method to perform random Set up, obtain all possible solutions through a large number of random sampling, and then draw a simple diagram of the pose of the motion platform, so as to intuitively and conveniently judge the rationality of the solution. The present invention has important academic significance and practical value for the design, analysis and optimization of the working space of the 3‑PRS parallel robot, and to promote its wide application in industrial production.
Description
technical field [0001] The invention relates to a method for determining the positive solution of a three-link type parallel structure robot, belonging to the field of robot mechanics. Background technique [0002] 3-PRS with three degrees of freedom (P is the moving pair, R is the revolving pair, S is the spherical pair) The parallel structure robot is composed of three symmetrical branch chains, each branch chain has a connecting rod, which is [PP] One of the typical structures of the S-type parallel mechanism, which has the advantages of simple structure, high rigidity, high bearing capacity, and compact structure. Although there are only 3 degrees of freedom in motion, it can expand the degrees of freedom and increase the working space by cooperating with other mechanisms, such as the following two-dimensional motion platform, so it has broad application prospects and has been recognized by academic circles and industries all over the world. extensive attention. The in...
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IPC IPC(8): G06F17/50
Inventor 陈国强康件丽赵俊伟周龙孙付伟李雪锋
Owner HENAN POLYTECHNIC UNIV