期刊文献+

台体型4SPS-2CCS广义并联机构位置正解分析 被引量:4

Forward Displacement Analysis of the 4SPS-2CCS Generalized Stewart Platform
下载PDF
导出
摘要 提出了台体型4SPS-2CCS广义并联机构,并对该机构的位置正解进行分析.基于四元数建立位置正解的数学模型,应用Mourrain簇理论对模型解的个数进行理论分析,得出该并联机构位置正解上限为160;同时应用同伦连续法进行数值计算,给出该机构全部160组位置正解,证明该机构位置正解上限是可以达到的.求解过程中,将四元数作为变量代替欧拉角旋转变换矩阵,降低方程组的Bezout数,从而减少跟踪路径数目,提高计算效率;采用四元数的矩阵运算,方便计算机程序实现.最后给出数字实例进行验证. A 4SPS-2CCS generalized Stewart platform is put forward and its forward displacement is analyzed. Based on quaternion, the model of the forward displacement solutions is built up. In order to obtain the number of solutions of this kind mechanism, Mourrain variety is used, The results show that the number of the forward displacement solutions of the parallel mechanism has at most 160. In addition, all the 160 solutions have been obtained by using homotopy continuation method. The example shows that the upper bound of 160 solutions can be reached in the general case. In stead of using Euler angle rotation matrix, the use of quaternion can reduce the Bezout number of the equations and the calculation time to increase the efficiency, and make the computer program easy to write. The result is verified by a numerical example,
出处 《北京邮电大学学报》 EI CAS CSCD 北大核心 2007年第3期15-18,31,共5页 Journal of Beijing University of Posts and Telecommunications
基金 国家"973计划"项目(2004CB31800) 国家自然科学基金项目(50475161) 高等学校博士点基金项目(20050013006) 北京市自然科学基金项目(3053017) 教育部科技研究重点项目(104043)
关键词 位置正解分析 并联机构 同伦连续法 四元数 forward displacement analysis parallel mechanism homotopy continuation method quaternion
  • 相关文献

参考文献8

  • 1文福安,梁崇高,廖启征.并联机器人机构位置正解[J].中国机械工程,1999,10(9):1011-1013. 被引量:41
  • 2韩林,文福安,梁崇高.6-5平台型并联机构的位置正解[J].北京邮电大学学报,1998,21(2):33-37. 被引量:8
  • 3Raghavan M.The stewart platform of general geometry has 40 configurations[J].Advances in Design Automation,1991(2):397-402.
  • 4Sreenivasan S V,Nanua P.Solution of the direct position kinematics problem of the general stewart platform using advanced polynomial continuation[J].ASME,1992:99-106.
  • 5Wampler C W.Forward displacement analysis of ge-neral six-in parallel SPS (Stewart) platform manipulators using SOMA coordinates[J].Mechanism and Machine Theory,1996,31(3):331-337.
  • 6Lee T Y,Shim J K.Forward kinematics of the general 6-6 Stewart platform using algebraic elimination[J].Mechanism and Machine Theory,2001,36(2001):1073-1085.
  • 7高小山,廖启征.由圆柱副、圆柱副和球面副构成的并联机构:中国,200410073712.2[P].2004-10-07.
  • 8Gao Xiaoshan,Liao Qizheng.Generalized stewart platforms and their direct kinematics[J].IEEE Trans Robotics,2005,21(2):141-151.

二级参考文献8

  • 1Wen F A,MMT,1994年,29卷,4期,547页
  • 2Lin Wei,Trans ASME J Mech Des,1994年,116期,47页
  • 3肖力舟,第五届机械传动年会论文集,1992年,320页
  • 4Liao Qizheng,Proc Inst Mech Engrs,1995年,209卷,55页
  • 5Wen Fuan,Mech Mach Theory,1994年,29卷,4期,547页
  • 6Yin J P,Mech Mach Theory,1994年,29卷,1期,1页
  • 7文福安,机械科学与技术,1993年,45卷,1期,41页
  • 8梁崇高,荣辉.一种Stewart平台型机械手位移正解[J].机械工程学报,1991,27(2):26-30. 被引量:54

共引文献48

同被引文献36

  • 1刘健,袁建平.一种求解非线性方程组的混沌算法[J].哈尔滨商业大学学报(自然科学版),2001,17(1):31-34. 被引量:5
  • 2袁震.空间五杆机构的位移分析[J].纺织基础科学学报,1989(1):9-17. 被引量:2
  • 3黄昔光,廖启征,李端玲,魏世民.基于四元数的台体型5SPS-1CCS并联机器人位置正解分析[J].机械工程学报,2007,43(5):8-13. 被引量:9
  • 4高小山,廖启征.由圆柱副,圆柱副和球面副构成的并联机构:中国,200410073712.2[P].2005-03-23.
  • 5Gao Xiaoshan, Lei Deli, Liao Qizheng, et al. Generalized Stewart-gough platforms and their direct kinematics[J]. IEEE Transactions on Robotics, 2005, 21(2): 141-151.
  • 6Jovanovic V T, Kazerounian K. Using chaos to obtain global solutions in computational kinematics[J]. Transactions of the ASME, Journal of Mechanical Design, 1998, 120(2) : 299--304.
  • 7Chen Guanrong, Lai Dejian. Feedback control of Lyapunov exponents for discrete-time dynamical systems [ J ]. International Journal of Bifurcation Chaos, 1996, 6(7) : 1 341-1 349.
  • 8Chen Guanrong, Lai Dejian. Feedback anticontrol of discrete chaos[J]. International Journal of Bifurcation Chaos, 1998, 8(7): 1 585--1 590.
  • 9Wang Xiaofan, Chen Guanrong. On feedback anticontrol of discrete chaos[J]. International Journal of Bifurcation Chaos, 1999, 9(7): 1435--1441.
  • 10Dai Jian S, Huang Zhen, Lipkin Harvey. Mobility of overconstrained parallel mechanisms[J]. Transactions of the ASME, Journal of Mechanical Design, 2006, 128 (1) : 220-- 229.

引证文献4

二级引证文献14

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部