3-RPS型并联机构运动正解的研究

Research on Direct Kinematics for 3-RPS Parallel Mechanism

并联机构运动学正解是一个位置和姿态耦合的复杂非线性问题,一般难以求得封闭形式的解析解.应用解析法对3-RPS型并联机构进行运动学正解问题进行了求解,并给出正解方程通式以及各项系数值,得到封闭形式的解析解.并给出具体数值实例进行求解,得出全部位置解,同时给出部分机构空间图形验证了解法可靠性.

Direct kinematics of parallel mechanism is a complex and nonlinear problem of attitude coupled and position .Generally it is difficult to obtain closed -form analytical solution .And inverse kinematics equations of the mechanism were derived .The direct kinematics problem of 3-RPS parallel mechanism was solved by ana-lytical method , positive solution of the equation formula and coefficient values were given and obtained in closed-form analytical solution .The reliability of the method was verified based on solve specific numerical examples and drew part of the space agency graphical with all the position solution .