2014•Packaging and Food MachineryRequires access

Kinematics Analysis of 4-DOF High-speed Parallel Robot

Yan Zu-ge

Abstract

According to the actual situation of China's food production and packaging,the high-speed parallel robot packaging system is constructed based on parallel robot,machine vision and other advanced technology. Based on analyzing the geometric characteristics of the novel mechanism,the kinematics model of the novel 4-DOF parallel mechanism is built. The explicit inverse kinematics solution of the mechanism is deduced,and the Newton-Raphson iterative method for solving process for the forward kinematics solution is built,which provides a theoretical basis for the parallel robot real-time control.

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Key concepts: Inverse kinematics, Kinematics, Parallel manipulator, Robot kinematics, Mechanism (biology), Robot, Computer science, Kinematics equations