期刊文献+

6-3型Stewart平台并联机构的运动学正解 被引量:3

Numerical Method for Forward Kinematics of 6-3 Stewart Platform Parallel Manipulator
下载PDF
导出
摘要 针对6-3型Stewart平台并联机构运动学正解的问题,提出了一种新型的快速数值解法,该数值法能得到一个精确的惟一解。这种方法主要是利用了6-3型Stewart平台的运动学反解的一些特性,得到一个有关杆长的微变量与动平台的微变量之间的线性方程式。再通过叠加杆长的连续的微小变量,得到6-3型Stewart平台的运动学正解。最后以反解为已知条件,通过算例进行了验证。同时采用Mathematica符号软件来提高求解位姿的计算效率。 It presents a new type of fast numerical method, by which an accurate unique solution can be generated directly for forward kinematics of 6 - 3 Stewart platform parallel manipulator. This method applies the specific properties of the inverse kinematics of 6 - 3 Stewart platform parallel manipulator and describes a linear equation. The equation gives linear relation between the small variables of leg lengths and the resulting small motion of the moving platform. By means of the equation and superposition of continuous small variables of leg lengths, it obtaines the forward kinematics of the 6 - 3 Stewart platform. Finally, it takes the inverse kinematics as known condition, introduces a computational example, and uses the Mathematica software to increase efficiency of computation for solving problem of position and orientation.
出处 《中国制造业信息化(学术版)》 2012年第9期43-46,共4页
基金 国家自然科学基金资助项目(51075209)
关键词 并联机构 运动学正解 数值算法 Parallel Manipulators Forward Kinematics Numerical Method
  • 相关文献

参考文献10

二级参考文献39

  • 1张秀峰,孙立宁.平行导路6-PSS并联机构运动学研究[J].机器人,2003,25(z1):619-622. 被引量:5
  • 2张继有,原福永,刘大为,张玉连.基于神经网络的并联3自由度机器人位置正解[J].计算机仿真,2004,21(10):133-135. 被引量:5
  • 3饶青,陈宁新,白师贤.6-6型stewart并联机器人的正向位移分析[J].机械科学与技术,1994,13(3):46-52. 被引量:10
  • 4王进戈,范丽华,徐礼钜.3-RPS并联平台机构的位置正解与奇异构形分析的数值-符号解[J].机械设计,2005,22(5):15-19. 被引量:5
  • 5Hunt K H.Structural kinematics of in-parallel-actuated robot-arm[J].ASME Journal of Mechanisms Transmissions and Automations in Design,1983,105(4):705-7l2.
  • 6Nanua P, Waldron K J, Murthy V. Direct Kinematic Solution of a Stewart Platform[J]. IEEE Transactions on Robotics and Automation, 1990, 6(4): 438-444.
  • 7Akcali I D, Mutlu H. A Novel Approach in the Direct Kinematics of Stewart Platform Mechanisms with Planar Platforms[J]. ASME Journal of Mechanical Design, 2006, 128(1): 252-263.
  • 8Song S K, Kwon D S. New Closed-form Direct Kinematic Solution of the 3 -6 Stewart-gough Platform Using the Tetrahedron Approach[C]//Proceedingsof the International Conference on Control, Automation and Systems. Jeju, Korea, 2001: 484-487.
  • 9Yurt S N, Anli E, Ozkol I. Forward Kinematics Analysis of the 6-3 SPM by Using Neural Networks [J]. Meccanica, 2009, 42(2): 187-196.
  • 10Ku D M. Forward Kinematic Analysis of a 6 - 3 Type Stewart Platform Mechanism[J]. Proceedings of theInstitution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics, 2000, 214(4): 233-241.

共引文献124

同被引文献23

引证文献3

二级引证文献8

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