摘要
基于数学机械化方法和计算机符号处理技术 ,对八面体及十面体变几何桁架机器人的位置分析进行了符号法求解 ,成功地将非线性位置约束方程组化简为等价的三角化方程组 ,分别导出了单变量的 1 6次和 48次代数方程 。
Based on mathematical mechanization method and computer symbolic processing technique this paper carried out a solution by symbolic method for position analysis of robot with octahedral and decahedral variable greometry truss.The set of nonlinear position constraint equations are successfully simplified into a set of equivalent triangularization equations and the 16th and 48th ordered algebraic equation of single variable are derived respectively.And lastly a numerical example is presented for demonstrating this method.
出处
《机械设计》
CSCD
北大核心
2000年第2期12-15,共4页
Journal of Machine Design
关键词
变几何桁架
机器人
位置分析
数学机械化学方法
Variable geometry truss robot ,Position analysis,Method of mathematical mechanization,Symbolic solotion Fig 2 Tab 2 Ref 6“Jixie Sheji”9179
