摘要
机构的正解在并联机器人研究域是一个具有挑战性的问题,长期以来人们在这方面做了很多的研究。球面3自由度并联机构是一种有重要应用的机构,如同一般并联机构,其反解容易而正解困难。利用两点间距离在不同坐标系下不变的原理作为约束条件建立约束方程,对球面3自由度并联机构进行位置正解分析,得出了正解的封闭解形式,因为引入了一次半角公式,所以其最终方程是最高次数为16的一元多项式。运用反解的方式对其进行了数值验证,证明该正解分析是正确的。
Forward kinenatics is a challenging problem In the fleld of parallel robot; people have been stvdying the problem for many years. The 3 - degree - of- freedom（DOF） spherical parallel manipulator is an important mechanism with extensive application. As any other parallel robot, inverse kinematics is easier than forward kinematics. Esiablishing the constraint equations with the condition of invariability of the length between two points, which are in different coordinate. The forward position problem is analyzed and the clolsed - form solution is obtained, because of introducing of the tan - half- angle substitution, the resultant equation is a 16 a polynomial. At last, using the numerical result of the inverse solution, the direct position analysis is proved to be true.
出处
《机械设计与制造》
北大核心
2006年第9期122-124,共3页
Machinery Design & Manufacture
基金
国家杰出青年基金资助项目(50125516)
关键词
正解
封闭解
球面机构
并联机构
Forward solution
Closed-form solution
Spherical mechanism
Parallel mechanism
