Modelling and Simulation of Inverse Kinematics for Planar 3-RRR Parallel Robot Based on SimMechanics

Jin Ran Gao; Yong Zhao Wang; Zuo Peng Chen

doi:10.4028/www.scientific.net/AMR.898.510

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 898Modelling and Simulation of Inverse Kinematics for...

Modelling and Simulation of Inverse Kinematics for Planar 3-RRR Parallel Robot Based on SimMechanics

Abstract:

Parallel robots are widely used in the manufacturing industry. In this paper, a planar 3-RRR parallel robot is studied. The inverse kinematics mathematical model is established for this kind of mechanism. Furthermore, a physical simulation model is established by virtue of MATLAB/SimMechanics and a relevant inverse kinematics simulation is implemented at the assumption of known conditions of the end-effector of robot. Through inverse kinematics simulation, the motion rules of driving parts of the planar 3-RRR parallel robot are obtained, and visualization of simulation process is realized in the system. The simulation results show that this method is much more effective and convenient when a certain simulation is implemented for the parallel mechanisms. Meanwhile, it provides a theoretical foundation and a better analytical approach of simulation for the controller design and further analysis of complex multi-linkage mechanisms in the future.

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Periodical:

Advanced Materials Research (Volume 898)

Pages:

510-513

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.898.510

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Online since:

February 2014

Authors:

Jin Ran Gao*, Yong Zhao Wang, Zuo Peng Chen

Keywords:

Kinematics, Planar 3-DOF Parallel Robot, SimMechanics, Simulation

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* - Corresponding Author

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