パラレルロボットarXiv:0904.0058
3-PRP平面パラレルロボットの運動学
Kinematics of A 3-PRP planar parallel robot
3-PRP平面パラレルロボットの運動学を再帰的モデリングで定式化し、逆運動学から位置・速度・加速度を求めた研究。
著者: Damien Chablat, Stefan Staicu
分類: cs.RO
原文アブストラクト
Recursive modelling for the kinematics of a 3-PRP planar parallel robot is presented in this paper. Three planar chains connecting to the moving platform of the manipulator are located in a vertical plane. Knowing the motion of the platform, we develop the inverse kinematics and determine the positions, velocities and accelerations of the robot. Several matrix equations offer iterative expressions and graphs for the displacements, velocities and accelerations of three prismatic actuators.
