基于序单开链法的4自由度并联机构位置正解

Direct displacement analysis of a 4-DOF spatial parallel mechanism based on one-dimension searching algorithm

序单开链(SOC)法的特点,使运动学方程组的维数降到最低,对于大多数实用并联机器人机构,可降到一维。故借助于一维搜索法可得到该类机器人机构位置正解的所有实数解;与同伦连续法相比,计算效率较高;与代数解析法相比,显著减少了公式导出的繁琐与困难。

SOC method has been presented. The new method has the following features：The unknown variables of kinematic equations are the fewest,and it is only one unknown variable for most applied parallel manipulators with few freedoms. Accordingly,all the real direct displacement solutions can be obtained using one-dimension searching algorithm. Compared with Homotopy continuation,it has higher computing efficiency;Compared with algebraic method,it has evidently reduced the difficulty of deducing formulas.