六自由度并联运动机构正向解的研究

A Study on the Direct Kinematic Solution of Stewart Platforms

针对实际中经常应用的普通或变异的六自由度并联运动机构的结构特点，通过采用虚拟连杆，将难于求正向解、甚至无法求正向解的这类机构简化成与其相近的、易于求正向解的６－３结构形式．把得出的６－３结构形式的正向解，作为求这类普通或变异机构正向解的初始值，通过极少次迭代，得出其正向解的精确值．实际应用表明，这种方法是有效的，并且计算量小．

A method for the direct kinematic solution of the position of the commonly used ordinary and deformable Stewart platforms in practice is presented. By means of virtual linkages, the platforms are converted into the 6 3 form of the Stewart platform, and the direct kinematic problem can be easily solved. With the initial solution of the platforms, it is easy to give the exact solution of the platforms by carrying out the iteration of the inverse kinematic equations. Application shows that the method proposed is feasible and the amount of calculating work is small.