Positive solution determining method of three-connecting-rod type parallel-structured robot

Abstract

The invention discloses a positive solution determining method of a three-connecting-rod type parallel-structured robot. The three-connecting-rod type parallel-structured robot mainly structurally comprises a motion platform (1), three connecting rods (L1, L2 and L3) and three standing columns (2), wherein the motion platform (1) is connected with the three connecting rods (L1, L2 and L3) through three ball hinges (b1, b2 and b3), the three connecting rods (L1, L2 and L3) are connected with three slide seats (3) through three cylinder hinges (R1, R2 and R3), the three slide seats (3) vertically slide on the three standing columns (2), and the three ball hinges (b1, b2 and b3) form a regular triangle. The positive solution determining method has the advantages that random setting of initial solutions is performed by a Monte-Carlo method, all possible solutions are acquired through a large amount of random sampling, a motion platform position and pose diagram is drawn, and accordingly solution reasonability can be judged visually and conveniently; the method is academically significant to and has practical value on 3-PRS parallel robot working space design, analysis and optimization and promoting wide application of the 3-PRS parallel robot to 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...

AI Technical Summary

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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