非对称结构索轮组位姿的精确求解方法

Accurate solution method of position and pose of asymmetric cable pulley set

以6轮组结构为例,建立非对称结构轮组位姿分析计算模型,分析位置关系,列出关系方程,联立方程计算关键点坐标。给出非对称结构齐次坐标求解的各转换矩阵,并通过矩阵运算得出6轮组各关键点坐标位姿的精确求解。完善轮组位姿的求解方法。

Taking a six-pulley sets as an example,a position and pose analysis model of asymmetric pulley set was established,the positional relationship was analyzed,the relational equations were listed,and the coordinates of key points were calculated by simultaneous equations.The transformation matrices for solving the homogeneous coordinates of asymmetric structures were given,and the coordinates and positions and poses of key points of the 6-pulley set are accurately solved by matrix operation,which improves the solution method of position and pose of pulley sets.