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

摘要

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.