十二面体变几何桁架机器人位置正解分析

Forward Displacement Analysis of the Dodecahedral Variable Geometry Truss Manipulators

提出一种十二面体变几何桁架机器人机构正位置分析的代数求解方法。结合一附加线性位移传感器所测数据，推导出正位置分析的两组显式解析解．避免了高于四次方程和大型线性方程组的求解，具有计算精度高、速度快的特点。将满足十二面体变几何桁架机器人实时控制的需要。

An algebraic method is proposed for the forward displacement analysis of the dodecahedral variable geometry truss manipulators. By combining the data measured by an additional linear sensor. two solutions for the forward displacement analysis can be found not only in closed-form, but also by a set of explicit expressions, which avoids solving equations of not higher than fourth order with one unknown and large-scale systems of linear equations. Therefore the minimal amount of computation is needed and the accuracy is improved, which is suitable for the implementation of a real-time control.