6-SPS并联机构的运动学仿真与分析

Kinematic Simulation and Analysis of 6-SPS Parallel Mechanism

位置正解求解是6-SPS并联机构运动学计算的难点,为方便确定位置正解,在ADAMS环境中为6-SPS并联机构的动平台添加一个初始多自由度驱动,进行运动学仿真。得出仿真位置逆解,并在MATLAB环境中求得理论位置逆解,验证了仿真位置逆解的正确性。将仿真位置逆解作为输入参数驱动此并联机构,得到其位置正解,结果表明:位置正解与初始多自由度驱动的值吻合,说明所得位置正解正确。表明运用上述方法可简单方便地计算出6-SPS并联机构所需的正解,可为此类机构位置正解的求解与控制提供参考。

Solving forward displacement is the difficulty of the 6-SPS parallel kinematics calculations, to make sure solving for- ward displacement easily, kinematic simulation was made adding a initial multi-DOF drive to the 6-SPS parallel mechanism＇s moving platform in the ADAMS environment, simulation of inverse kinematics solution was got and a theoretical inverse kinematics solution in the MATLAB environment was obtained, the correctness of simulation of inverse solution was proved. The inverse simulation position be used as input parameters to drive this parallel mechanism, by the solving forward displacement, the results show that the forward displacement is consist with the initial-DOF-driven values, indicate it is correct. It proves the use of these methods can be simply and easily calculate the required 6-SPS parallel mechanism positive solution, which can provide the reference of such institutions＇ solving forward position and control.