摘要
运动学位置正解和位置逆解是对并联机器人其它性能进行分析的基础,位置正解也是并联机器人研究中的一个难点。本文采用遗传算法对一种新型六自由度并联机器人的运动学位置正解和位置逆解进行了求解,并且利用灰色关联分析对求解结果进行了分组,得到了Stewart并联机器人的5组位置正解实解。实例表明该方法简单、方便、具有通用性,是求解并联机器人运动学问题的一种新策略。
The forward displacement and inverse displacement analysis in kinematics is the foundation for analyzing other performances of a parallel platform manipulator. We use genetic algorithm to solve the forward displacement and inverse displacement of a novel 6-DOF parallel platform manipulator and carry out the grouping of the displacement solutions using the grey relational analysis theory, thus obtaining five groups of forward displacement solutions of the Stewart platform manipulator. An example presented in the paper shows that the kinematics analysis is simple, easy to use and universal and is a new strategy for solving the kinematics problems of a parallel platform manipulator.
出处
《机械科学与技术》
CSCD
北大核心
2007年第6期770-774,共5页
Mechanical Science and Technology for Aerospace Engineering
