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

fYear

2010

fDate

20-23 June 2010

Firstpage

2363

Lastpage

2367

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2010 IEEE International Conference on

Conference_Location

Harbin

Print_ISBN

978-1-4244-5701-4

Type

conf

DOI

10.1109/ICINFA.2010.5512065

Filename

5512065