中文摘要：

讨论了二自由度平面并联机器人的正向和逆向运动学问题,利用复数矢量法建立该并联机器人的正向运动学模型和逆向运动学模型,利用数值解法求解机器人的逆向运动学问题。在建模之前,对机器臂的初始位置需要根据机器臂的几何位置进行合理的估计,避免数值解法无法收敛,最后在SimMechanics环境下建立该机器人的计算机模型,通过仿真算例证明了数值解法的可行性。采用Sim-Mechanics模块完成运动学仿真和逆向运动学中非线性方程组的数值求解,使得机器人模型的求解和验证更加快速有效。

英文摘要：

The for ward and inverse kinematics analysis for a 2 DOF parallel manipulator was investigated.With complex vector method,the forward kinematics and inverse kinematics models were built to derive the kinematics equations.The inverse kinematics problem was solved by numerical methods.Before the modeling,the initial position of the robot arm was estimated rationally according to geometric position of the arm to avoid the numerical solution from no convergence.Finally,the computer model for simulating this kind of parallel robot was established under SimMechanics.And the feasibility of numerical method was justified by simulation.The numerical solution of nonlinearity equations set in kinematics simulation and inverse kinematics were completed by SimMechanics module to make the solution of the robot model and validation more effective.