并联式大型法兰对接平台的位姿逆解

Pose Inverse Solution of Butt Joint Platform for Large Flange

针对六自由度并联机构实现大型法兰自动对接的问题,对并联机构的位姿逆解展开研究。根据动静平台各球铰坐标及法兰的位姿参数推导出各伸缩杆长度。利用Simulink搭建平台的运动仿真模型,输入横荡、纵荡、垂荡、横摇、纵摇、艏摇参数,得到6个伸缩杆的变化规律曲线,为进一步的运动学分析奠定基础。

Aiming at the problem of using parallel mechanism with six degrees of freedom to realize the automatic butt joint of large flange, the pose inverse solution of parallel mechanism is studied. According to the coordinates of spherical hinge and the pose of flange, the length of the telescopic rod is derived. Using Simulink to build the simulation model of platform, then the parameters of sway, surge, heave, roll, pitch and yaw are input to get the curve of six telescopic rods. The research provides intuitive reference for the inverse solution of the parallel mechanism.