Kinematic Analysis and Simulation of TriMule Robot Parallel Mechanism

江小辉; 孙翼飞; 郭维诚; 侯春杰

doi:10.13433/j.cnki.1003-8728.20230063

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Kinematic Analysis and Simulation of TriMule Robot Parallel Mechanism

更新时间：2026-07-10

- Kinematic Analysis and Simulation of TriMule Robot Parallel Mechanism
- Mechanical Science and Technology for Aerospace Engineering Vol. 43, Issue 10, Pages: 1664-1671(2024)
- 作者机构：
  
  1. 上海理工大学机构机械工程学院,上海,200093
  2. 上海航天设备制造总厂有限公司,上海,200240
- 作者简介：
- 基金信息：
- DOI：10.13433/j.cnki.1003-8728.20230063
  CLC： TP242
- Published：2024
- 稿件说明：
移动端阅览
江小辉, 孙翼飞, 郭维诚, et al. Kinematic Analysis and Simulation of TriMule Robot Parallel Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2024, 43(10): 1664-1671.
DOI：

江小辉, 孙翼飞, 郭维诚, et al. Kinematic Analysis and Simulation of TriMule Robot Parallel Mechanism[J]. Mechanical Science and Technology for Aerospace Engineering, 2024, 43(10): 1664-1671. DOI： 10.13433/j.cnki.1003-8728.20230063.

摘要

针对并联机构运动学模型求解困难的问题，以TriMule并联机构为研究对象对其正向运动学与逆向运动学进行了分析与仿真，并通过样机平台的加工工艺参数评价了运动学算法的正确性与稳定性。根据TriMule机器人机构特点，基于矢量法与连杆长度差迭代法建立机器人并联机构的运动学逆解及正解模型，推导机器人驱动支链长度与动定平台位姿关系；在机器人运动空间中选取样本位姿，应用MATLAB对所建立TriMule机器人并联机构运动学模型进行仿真验证

结果表明运动学模型求解算法正确稳定。最后搭建TriMule机器人搅拌摩擦焊实验平台验证运动学算法控制稳定性。

Abstract

Aiming at the difficulty of solving the kinematics model of parallel mechanism

the forward kinematics and inverse kinematics of TriMule parallel mechanism are analyzed and simulated

and the correctness and stability of the kinematics algorithm are evaluated through the processing parameters of the prototype platform. According to the characteristics of TriMule robot mechanism

the inverse and forward kinematics models of the robot parallel mechanism were established based on vector method and iterative method of the length difference of connecting rod respectively

and the relationship between the length of the robot driving branch chain and the position and pose of the moving-fixed platform was deduced. Sampling orientation was selected in the robot motion space

and the kinematic models of TriMule robot parallel mechanism were simulated and verified by MATLAB. The results show that the algorithm is correct and stable. Finally

a TriMule robot friction stir welding experimental platform was built to verify the control stability of the kinematic algorithm.

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