| Because of some advantages of it's structures and accuracy,the parallel robot is widely used in some areas which have high stiffness and accurate demand,Our research object is five-bar parallel robot in this paper, and find the numerical solution and analytic solution of the method which was established to meet the requirements of the parallel simulation of inverse and positive solution model, studing the parallel robot interpolation algorithms and structural properties based on the observe of the movement of the simulation, studied the range of five-bar parallel robot and find a method to control the robot arm to move with the keyboard,the simulation program is implemented to control the robot arm to reach automatic move through the G code.In the design of real robot,five-bar parallel manipulator robot control algorithms is in the based of Jacoby matrix, numerical solution is used to establish the inverse and positive solution model which is used in the actual control of parallel model, and get an comprehensive input and output relationship and realize the function which the simulation program involved in various forms of movement,and achieve a certain precision and speed requirements.Besides,we also study the kinematics problems on the base of Jacoby matrix. |
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