摘要
提出了一种研究6-3 Stewart并联机构运动学正解问题的新方法。通过分析动平台位姿变量之间的耦合关系,增加了一些有用的信息,得到了用于解决这一问题的11个相容方程。使用正交补方法进行消元,最终可以将6-3 Stewart并联机构运动学正解问题表达成一个一元八次方程。最后通过一个实例验证了该方法的正确性。
This paper presented a new analytical method to study the forward kinematics analysis of 6-3 Stewart parallel mechanisms.Analyzing the coupling relationships among the position and orientation variables of the moving platform,additional useful information was obtained,thus eleven compatible algebra equations used to solve this problem were obtained.The orthogonal complement method was used to eliminate the redundant variables,the forward kinematics of 6-3 Stewart parallel mechanisms can be expressed as an eight order equation in the end.Finally a specific example was introduced to verify the method offered herein.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2011年第5期505-509,共5页
China Mechanical Engineering
基金
国防科工委"十一五"预研基金资助项目(C4220062501)
国家自然科学基金资助项目(50375071)
航空科学基金资助项目(H0608-012)
江苏省普通高校研究生科研创新计划资助项目(CX07B-068z)
关键词
STEWART平台
并联机构
运动正解
正交补
解析法
Stewart platform
parallel mechanism
forward kinematics analysis
orthogonal complement method
analytical method
