一种三自由度平台正、反解计算及工作空间分析

Forward and Inverse Solution & Workspace Analysis of a 3-DOF Platform

研究了一种并联机构的三自由度平台位姿正解和反解算法。位置正解是通过驱动器长度计算动平台的位姿,位置反解是通过动平台的位姿反求驱动器长度。同时利用正解方法分析三自由度平台的运动规律和工作空间,该研究结果为三自由度平台的结构设计和运动控制提供有力的依据。

A method of the forward and inverse solution of a 3-DOF parallel mechanism is presented.The forward solution is to calculate the pose of the moving platform through the length of the actuator,while the inverse solution is the opposite.The motion law and workspace of the 3-DOF platform are analyzed using the forward solution method.The research result provides powerful basis for the structural design and motion control of the 3-DOF platform.