风洞捕获轨迹6自由度机构运动学逆解分析

Inverse Kinematics Analysis of Six-degree-of-freedom Mechanism for Wind Tunnel Capture Trajectory

针对风洞捕获轨迹实验设备的需要,提出一种串联6自由度机构。建立了机构的运动学正解模型,对于串联机构运动学逆解难的问题,通过BP神经网络和数值法两种方法进行了该机构运动学逆解的探索。针对数值法逆解时初值估计难的问题,提出了一种新的方法,通过实例分析,验证了该方法的正确性。解决了数值法求解时初值估计的问题,使得数值法顺利解出逆解,相比BP神经网路,数值法精度更高。

A series of six-degree-of-freedom mechanism is proposed for the needs of wind tunnel capture trajectory experimental equipment. The kinematics positive solution model of the mechanism is established. For the problem of the inverse kinematics of the series mechanism,the inverse kinematics of this mechanism is explored by BP neural network and numerical method. In the face of the problem that the initial value estimation is difficult when the inverse method of numerical method is solved,a new method is proposed. The correctness of the method is verified by an example analysis. The problem of initial value estimation when solving numerical method is solved,which makes the numerical method solve the inverse solution smoothly. Compared with BP neural network,the numerical method has higher precision.