摘要
首次利用吴方法求解一种典型的3自由度并联机器人的位置正解,将利用传统方法所得到的32次方程降为一个16次方程,提高了计算效率.在计算过程中,避免了增根的产生.得出对于这一类问题的普遍数学方法,为利用吴方法计算并联结构的正解提供了范例.
Wu's method is used to solve the forward position solution of a typical 3_DOF parallel manipulator. The degree of polynomial is decreased 16 from traditional 32, so that calculation efficiency is improved and extra roots is avoided by the calculation process. A general mathematical steps for solving such kind of problems is get. It also shows an example for using Wu's method in this field.
出处
《北方交通大学学报》
CSCD
北大核心
2004年第1期84-86,90,共4页
Journal of Northern Jiaotong University
关键词
机械学
吴方法
并联机器人
位置正解
mechanics
Wu's method
parallel manipulator
forward position solution
