摘要
提出了一种新的Ｓｔｅｗａｒｔ平台机械手动力学分析方法─—基于速度变换的坐标缩并方法，该方法根据Ｓｔｅｗａｒｔ平台的道运动学特点，直接导出独立广义速度与非独立广义速度之间的解析变换关系，无需构造约束方程的Ｊａｃｏｂｉａｎ矩阵，也不必进行各种复杂的矩阵分解运算，大大减少了计算量，同时也避免了由矩阵分解引入的数值稳定问题。通过分析证明该方法具有很高的计算效率，而且非常适合并行计算。该方法对其他形式的并联机器人机构同样适用。
A new method, which analyzes dynamics of the Stewart Platform manipulator using velocity transformation is proposed. According to the inverse kinematics characteristics of Stewart platform, the analytical relationship between independent and dependent velocities can be derived directly in this method. The constraint Jacobian matrix is not necessary, nor the complicated matrix decomposition, thus leading to a significantly reduced numerical effort. Moreover, our approach avoids numerical unstable problems caused by matrix decomposition in traditional coordinate reduction. The analysis demonstrates that this method is highly computational efficient and is very suitable for parallel computation. The method can be easily extended to other types of parallel manipulators.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2000年第5期38-41,共4页
Journal of Mechanical Engineering
