并联机械手的位移分析

Displacement Analysis of Platform Type of Manipulators

本文对并联机械手进行了运动分析,导出了它的输入—输出位移方程的矩阵表达式.在此基础上建立了并联机械手的位置求解的数学模型,并导出了反解的解析表达式.提出用“六维搜索算法”求它的位置正解.该方法具有表达简单,编程容易,收敛性好的特点.

The results of kinematic analysis for platform type of manipulator is presented.The matrix expression of its input output displacement rmula is derived,And form that the mathematical model for Solving displacement of the platform type of manipulator is established. Analytical expression of its reversed solution is also obtained.Six Demensional Search Algorithm(SDSA) is used to solve the position of the displacement.It is proved that this method is simple for formulation, easy for programming and has good Convergence.