Title :
Kinematics simulation and analysis of 3-RPS parallel robot on SimMechanics
Author :
Yu, Lingtao ; Zhang, Lixun ; Zhang, Nan ; Yang, Shuo ; Wang, Daoming
Author_Institution :
Sch. of Mech. & Electr. Eng., Harbin Eng. Univ., Harbin, China
Abstract :
Compared with serial robots, because of some advantages, e.g. higher stiffness, errors will not accumulated, parallel robot has much potential use. To 3-RPS parallel robot, there are 3 controllable degrees of freedom (axis x, axis y, axis z, or angle x, angle y, axis z). It may be called position kinematics or posture kinematics. According to structural characteristics of the 3-RPS parallel robot, the mathematical model of the posture inverse kinematics is established. The simulation model is set up using the SimMechanics and Simulink module. The validity of the posture inverse kinematics is proved by comparing the two models. And during the motion simulation, the related kinetics data and motion animate are obtained.
Keywords :
mathematics computing; mechanical engineering computing; robot kinematics; 3-RPS parallel robot; SimMechanics; Simulink module; kinematics simulation; position kinematics; posture inverse kinematics; Analytical models; Animation; Information analysis; Kinematics; Kinetic theory; MATLAB; Mathematical model; Parallel robots; Robot control; Robotics and automation; 3-RPS parallel robot; posture inverse kinematics; simulation with SimMechanics;
Conference_Titel :
Information and Automation (ICIA), 2010 IEEE International Conference on
Conference_Location :
Harbin
Print_ISBN :
978-1-4244-5701-4
DOI :
10.1109/ICINFA.2010.5512065
