3-6Stewart平台的正向运动学数值求解分析

Numerical Analysis of Direct Kinematics for a 3-6 Stewart Platform

针对 Stewart平台正向运动学求解的困难 ,建立了 3- 6 Stewart平台正向运动学数学模型 ,同时采用改进的Newton- Raphson方法进行数值求解。并利用消元法进行模型简化 ,迭代初值采用先粗后细的方法选取。仿真分析表明 ,该方法提高了效率和计算稳定性。

In this paper, we build up the mathematical model of direct kinematics of a 3-6 Stewart platform to overcome the difficulty of obtaining its numerical solution. Elimination method is used to simplify the model and first-rough-then-precise method is used to choose the initial value of iteration. Finally, the numerical solution can be obtained through the improved Newton-Raphson method. Simulation results show the satisfactory computation efficiency and stability.