5-3型6-SPS并联机构位置分析的正逆解析解

Analytical Solutions to the Forward and Inverse Positions of 5-3 Type 6-SPS Parallel Mechanism

应用基于序单开链的机构结构理论,分析计算出5-3型6-SPS并联机构的耦合度为0,直接通过依次求解各个基本运动链的位置求出了机构位置正解的解析表达式,无需复杂的数学推导;又通过求解位置反解及算例,验证了位置正解的准确性。该方法计算简易、几何意义明确,得到的位置正、逆解析式有利于实时控制及工作空间、误差分析等的理论求解与分析。

Based on the mechanism structure theory of single-opened-chain, the coupling-degree of 5-3 type 6-SPS parallel mechanism is calculated to be 0, and analytical expression of forward position analysis can be carried out from calculating each basic kinematic chain. And the results of forward position analysis was verified by inverse position analysis. The algorithm had simple solution principle and clear geometric meaning. What＇s more, the analytic expression of forward and inverse position analysis was beneficial to real-time control and solution the work space and error analysis.