一种6-SPS型并联机构运动学正向求解方法

A Forward Kinematics Solution Method of 6-SPS Parallel Manipulator

通过研究6-SPS型并联机器人机构的运动学正向求解方法,提出了一种建立运动学模型与正向求解的方法,利用6-SPS型并联机器人支链特点,以支杆两个独立的方向余弦和伸缩长度为支杆的广义坐标,推导了6-SPS型并联机器人运动学模型,在此基础上,提出运用基于Moore-Penrose广义逆的牛顿迭代格式对运动学模型进行正向求解,并编制了MATLAB运动学正向求解程序,进行了运动学正向求解数值仿真,结果表明求解程序快速有效。

After the forward kinematics of a 6-SPS parallel manipulator was researched, a kinematic modeling and its direct solution method was presented. By using its branch bar characteristic, and taking two independent orientation cosine and flex length of the bar as the bar＇s generalized coordinates, the kinematic model of the 6-SPS parallel manipu- lator was derived. Hence then it was put forward that the kinematic model was directly solved on basis of Moore-Penrose inverse Newton＇s iterative solution, and the corresponding MATLAB iterative solution program was worked out. Numeri- cal simulation of forward kinematics of 6-SPS parallel manipulator is done by MATLAB, it is proved that the above mentioned forward kinematics solution program of 6-SPS parallel manipulator is effective and rapid.