摘要
提出一种并联机构位置正解的方法。采用吴文俊的数学机械化方法对具有一般尺度参数的3-RPS并联机构位置方程进行消元,计算出与机构约束方程具有相同零点的特征列,从而得到只含一个未知数的代数方程,通过零点分解求得机构全部位置解。计算过程采用了机械化程序,具有通用性。
A kind of positional normal solution method for parallel robot has been put forward. The elimination was carried out by the use of WU Wenjun＇s mathematics mechanization method on the positional equations of 3-RPS parallel mechanism that possesses general dimensional parameters. A characteristic row that possesses identical zero point with the constraint equation of mechanism has been calculated, thus obtained an algebraic equation that contains only one unknown. The entire positional solutions of mechanism were obtained by means of zero point analysis. The course of computation adopted a mechanized program and has versatility.
出处
《机械设计》
CSCD
北大核心
2007年第8期28-30,共3页
Journal of Machine Design
基金
陕西省教育厅科学研究资助项目(05JK-138)
关键词
并联机构
位置正解
特征列
零点分解
parallel mechanism
positional normal solution
characteristic row
zero point analysis
