软式操纵系统空间定位算法研究

3D Orientation Arithmetic Study with Soft Type Manipulation System

针对软式操纵系统各构件的空间特性,采用适当的定位算法,将三维问题简化为二维问题进行解析求解,不仅降低了计算的复杂度,而且很好的满足了精度要求。由于能够用简单的解析式表达,所以便于计算机程序实施和推广。算例证实该算法可靠、精确,具有一定的工程应用价值。

Based on components＇ 3D characteristic of soft type manipulation system, an appropriate orientation arithmetic is taken to predigest 3D orientation into 2D solution in this paper. The arithmetic can reduce computational complexity, and can meet precision requirement well. Since be expressed with simple parsed formulas, the arithmetic is convenient for programming by computer and extending. Numerical examples show that the arithmetic is available, precise and applicable to engineering computation.