Kinematics Simulation and Analysis of 2-DOF Parallel Manipulator with Highly Redundant Actuation
نویسندگان
چکیده
In this paper, the mathematical model of the posture inverse kinematics is established. According to the structure of 2DOF parallel manipulator, the simulation model of mechanism is built using the Matlab/SimMechanics. The kinematics simulation of the parallel manipulator is obtained and confirmed correct. With the Virtual Reality Toolbox, the virtual reality of the parallel manipulator is carried out. During the simulation, the motion animate is obtained. It indicates that Matlab/Simulink can greatly reduce the designer’s work and provide a powerful and convenient tool for the simulation and analysis of parallel manipulators. Keywordsparallel manipulator; posture inverse kinematics; simulation; SimMechanics; virtual reality.
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