Virtual reality simulation and singularity analysis of 3-RRR translational parallel robot

被引：0

作者：

Bouzgou, Kamel ^{[1
]}

Amar, Reda Hanifi Elhachemi ^{[1
]}

Ahmed-Foitih, Zoubir ^{[1
]}

机构：

[1] USTO MB, Lab Power Syst Solar Energy & Automat LEPESA, Oran, Algeria

来源：

FIFTH INTERNATIONAL CONFERENCE ON THE INNOVATIVE COMPUTING TECHNOLOGY (INTECH 2015) | 2015年

关键词：

Delta robot; Spatial; 3DOF; 3-RRR; Direct geometric model; Inverse kinematic model; Singularity analysis; VRML; Matlab;

D O I：

暂无

中图分类号：

TP301 [理论、方法];

学科分类号：

081202 ;

摘要：

In this paper we propose a global study of the spatial 3-RRR parallel robot Delta based on geometric parameters of robot, the graphical presentation of this famous model is in this article, and to definekinds of singularity for the direct and inverse kinematics model. Simulation of results are presented by the combination of graphical virtual environment and mechanical design tools; CAD and VRML; both are interconnected by the plate-form of the Matlab software, we finalize this work by a control GUI.

引用

页码：61 / 66

页数：6

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