并联机构位置正解方法研究

Research on Approach of Forward Positional Analysis of Parallel Manipulator

以位置方程为基础,采用速度雅克比矩阵判断位置模型耦合度,并根据耦合度判断位置正解的难易程度,从而为求解方法的选择提供依据。针对强耦合位置模型具有普遍性且求解困难这一问题,以6-PRRS并联机构为研究对象,运用粒子群优化(PSO)算法进行位置正解计算,实例计算结果与实际位姿吻合,说明该方法有效且可行。

Based on the equation of position, the velocity Jacobin matrix is used to estimate the coupling coefficient of location equation on the basis of which the difficulty level of forward position analysis is judged, whereby providing the basis for the selection of method of forward position analysis. With an aim at the strong coupling of location equation with universality and difficulty to solve as well as with 6-PRRS parallel manipulator as the research objective, the particle swarm optimization （PSO） algorithm is used to carry out the forward position analysis calculation. The results from actual example calculation are found to be in coincidence with actual position and orientation, whereby indicating that the approach in this paper is effective and feasible.