摘要
本文给出了一种解决机械手间接位置问题的新数值方法。该方法避免了对于非线性方程在列方程、消元时所遇到的困难。能够较容易地求解6R及6R以上的任意结构参数的机械手的间接位置问题。稍加推广,便可对任意结构参数的闭链型7R空间机构进行位移分析。
This article presents a new convenient numerical method for solving problems on indirect position of 6R or more than 6R manipulators with any canfiguration parameters.The method can avoid the difficulty of arranging equations and eli- minating unknown arguments for nonlinear equations,and with some revision and extension it can be used for position analysis for 7R closed-loop space mechanisms with any configuration parameters.
