摘要
对一种六自由度混合驱动并联机构的位置正解问题进行了研究,根据该六自由度并联机构的几何结构特点,运用几何分析和虚拟杆长相结合的方法建立了其运动学数学模型,用遗传算法求出了其位置正解,并基于位置正解对该类并联机构存在的实际装配构型进行了分析,给出了计算实例。
The forward kinematics problem of 6-DOF hybrid driven parallel mechanism was researched,and the kinematics mathematical model was built by using the method of combining the geometrical analysis with virtual bar＇s length based on the geometrical structural characteristics of 6-DOF hybrid driven parallel mechanism. An improved genetic algorithm was presented to optimize and directly solve the whole real solutions of the forward kinematics of parallel mechanism, the actual configuration analyses of the 6-DOF hybrid driven parallel mechanism were completed and a numerical example was given.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2007年第8期920-923,970,共5页
China Mechanical Engineering
关键词
混合驱动
并联机构
位置正解
构型
hybrid drive
parallel mechanism
forward solution of position
configuration
