一种三分支空间机器人的位姿反解

INVERSE DISPLACEMENT SOLUTION TO A THREE-BRANCH SPACE ROBOT SYSTEM

具有多分支的空间机器人系统在不久的将来应会成为宇宙空间探索的有利工具。这样的系统与常见的串联或并联机器人有许多不同之处，它同时具有串联机器人和并联机器人的一些特点。为此，提出了一种具有三分支的空间机器人模型，根据该模型所具有的结构特征并结合并联机器人位姿正解方面的研究成果，给出了一种计算这种机器人位姿反解的方法。运用该算法可以方便、快捷地算出系统所有可能的位姿反解。

In near future, multi.branch space robot system will be an important tool in th e universe exploring. There are many differences between general serial/parallel robots and multi.branch space robot system. The multi.branch space robot system has its own features. A three.branch space robot system is proposed. Basing on the structure of the special three.branch space robot system and forward displacement solution of some parallel manipulator, the inverse displacement solution is derived to this system. Through this method, all the inverse displacement solutions of the three.branch space robot system can be obtained conveniently and rapidly.