摘要
采用数值分析中的牛顿迭代法求解了关于3-PRS三自由度并联机构正解的非线性方程组,通过迭代计算出并联机构位置正解的精确解。该法程序设计简单,迭代收敛速度快,算法执行效率高。给出了求解过程及求解实例,其迭代精度达10-6。
In This paper, author used Newton iterative method to solve the nonlinear equation of the forward solution of 3-PRS parallel mechanism, the precision forward solution of parallel mechanism is worked out. This way programme simple, iterative speediness, inefficient. The example was given, and running results of the program show the approximative accuracy can be 10-6
出处
《齐齐哈尔大学学报（自然科学版）》
2006年第2期62-66,共5页
Journal of Qiqihar University(Natural Science Edition)
关键词
并联机构
位置正解
牛顿迭代法
parallel kinematic machines
forward solution
Newton iterative method
