以4-RCRP并联机器人为研究对象，介绍4-RCRP机器人的结构特点，分析了该机器人的运动学特征，求出了该位置的正反解，然后运用UG软件对该机器人进行建模，最后运用ADAMS软件进行了运动学仿真验证。%This paper takes the 4RCRP paral el manipulation as object of study,introduces its mechanism characteristics,analyzes the kinematic characteristics and obtains the solutions of both the inverse and direct kinematics. Then it builds its 3D model with UG software,final y simulates and verifies the kinematic functions with ADAMS software.
展开▼
