6自由度并联机构平台正解方法研究

Study on Direct-Solved Method of 6-DOF Platform

介绍一种6自由度平台,定平台通过六个结构完全相同的驱动分支UPU分支与动平台相连接,针对该6自由度平台机构提出了一种运动学正解方法,运用正解方法对机构进行操作,并与逆解算法的目标值进行比对,通过给出反馈修正量,可以有效提高平台的运动精确度,对提高平台的运动精确性起到明显作用。

A novel 6 degree of freedom roof garden is proposed. To begin with, the stationary platform is connected with the moving platform by the same six UPU driving links. At the basis of kinematics analysis, a way of kinematics solution is put forward as to the framework of roof garden. And then the framework is manipulated by applying a positive method , and the result is compared with target value used by athwart calculating way. Finally, through giving out modifying results feed - backed, the movement precision of the fiat roof is efficiently enhanced, and then it has an obvious effect on improving the movement precision of the fiat roof.