3PRS―f并联机器人工作空间的建模与仿真

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Solving the workspace of a parallel robotis a complex problem. Taking 3PRS-f parallel robot as the research object ,the constraints conditions were analyzed for the robot＇s workspace. The relationship was obtained between the end actuator P and the center point c of the moving platform. Based on the 3PRS parallel mechanism inverse kinematics equations, a method for searching spacepoint was put forward. The workspace calculation model of the3PRS-f parallel robot was built, and then the workspace was simulated by Matlab software.并联机器人工作空间的求解是一个比较复杂的问题．以3PRS-f并联机器人为研究对象，分析影响其工作空间的约束条件，得出了末端执行点与动平台中心的关系，并基于3PRS并联机构的运动学反解方程，提出一种空间点的搜索方式，建立工作空间的求取模型，然后用Matlab软件进行仿真．