Modelling and Simulation of Forward Kinematics for Planar 3-DOF Parallel Robot Based on Simulink

被引：1
作者：
Dang, Xiaozheng [1 ,2 ]
Zhou, Liangsheng [1 ]
Liao, Lingping [1 ]
Liang, Dong [2 ]
机构：
[1] Mil Transportat Inst, Tianjin, Peoples R China
[2] Tianjin Univ, Sch Mech Engn, Tianjin, Peoples R China
来源：
ADVANCED DESIGN AND MANUFACTURING TECHNOLOGY III, PTS 1-4 | 2013年 / 397-400卷
关键词：
Planar 3-DOF parallel robot; kinematics; simulation; simulink;
D O I：
10.4028/www.scientific.net/AMM.397-400.1552
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
Parallel robots are widely used in the machinery industry. In this paper, a planar 3-RRR parallel robot is researched. The forward kinematics mathematical model is established for this kind of mechanism. On the basis of it, a relevant simulation is carried out through MATLAB/Simulink. Thus, the motion rules and stress state for all parts of the mechanism are described vividly The simulation results show that this method is much more effective and efficient when the simulation is implemented for a certain machine system. Meanwhile, it provides a theoretical foundation and a better analytical approach of simulation for the design and analysis of complex multi-linkage mechanisms in the future.
引用
收藏
页码：1552 / +
页数：2
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