关于一类3-3型并联机器人运动学正解问题的研究

Study for the Direct Displacement Problem of a Class of 3-3 Parallel Manipulator

对一类３—３型并联机器人运动学正解问题给出一种新的解法，它将解析方法与数值方法结合起来，思路清晰，方法简明。并且应用计算机代数系统Ｍａｔｈｅｍａｔｉｃａ对结果进行了验证，实验结果表明此法正确、简单、可靠。

A new method for the direct displacement of a class of 3-3 parallel manipulator that generalize the well-known Stewart platform is presented. Algebra equations are exploited to establish system model. Analytics combine with numerical method. The thought is distinct, and the method is simple. It also applicate computer algebra systems-Mathematica with verifying the result. The result of experiment show that the method is correct, simple and reliable, provide a way of apply practice.