摘要
空间并联机构的位置正解是已知并联各杆的长度确定末端平台的位姿。以6-5平台型空间并联机构为研究对象进行位置正解分析,使用方向余弦矩阵,建立数学模型,给出了约束方程,经过一系列的代数推导,应用结式消元,导出了一元20次方程,最终求得40组解。通过数字算例,验证了40组解都是正确的,表明了6-5平台型空间并联机构的正解数目是40。
The forward displacement analysis of spatial parallel mechanisms is to solve the position and orientation of the platform, which is confirmed by the length of the paralleled links. Forward position analysis of the 6-5 plat- form parallel mechanism is studied. The mathematics model and constrain equations are set up by using direction cosine matrix. The problem of forward analysis is reduced to a 20th degree polynomial equation in a single unknown by a series of algebraic derivation and resultant elimination, then 40 groups of solutions are obtained. Numerical ex- ample confirms that the numbers of analytical solutions for 6-5 platform parallel mechanism are 40.
出处
《机械科学与技术》
CSCD
北大核心
2013年第9期1385-1388,共4页
Mechanical Science and Technology for Aerospace Engineering
基金
山东省自然基金项目(ZR2010EL022)
山东省博士基金项目(2011BSB01183)资助
关键词
并联机构
位置正解
结式消元
方向余弦矩阵
calculations
mathematical models
matrix algebra
mechanisms
spatial parallel mechanisms
forward position analysis
resultant elimination
direction cosine matrix
