摘要
位置正解是并联机构运动分析的基础,但由于Stewart平台结构复杂,其正向运动学求解很困难,为此借助电子罗盘的可靠性和航向输出无时间漂移等特性,提出了附加电子罗盘HMR3300的3-2-1Stewart平台的位姿正解法。仿真分析表明,该方法提高了稳定性和计算的效率。在附加电子罗盘后Stewart平台的运动学模型降维并简化为线性,减少了计算量且能唯一确定位姿正解,对其它的并联机构有借鉴意义。
Forward kinematics is the fundamental to analyze the motion of the parallel manipulator. The forward kinematics method attaching electronic compass HMR3300 to novel 3-2-1 Stewart platform was presented, which uses the reliability and no output excursion of the electronic compass to overcome the difficulty of solution of direct kinematics for Stewart platform due to its structure complexity. Simulation analysis shows that the method improves computational efficiency and stability. After the attachment of electronic compass to Stewart platform, its kinematics can be reduced to linearity and the dimension can be decreased, so the computation quantity can be cut down and forward kinematics would be confirmed uniquely.
出处
《机床与液压》
北大核心
2008年第9期3-5,62,共4页
Machine Tool & Hydraulics
基金
国家自然科学基金重点项目(60534020)
国家自然科学基金项目(60775052)
作者简介
孙坚（1978-），女，山西运城人，博士研究生，从事网络智能、机器人控制等研究。电话：021—67792323，E—mail：ysding@dhu．edu．cn。
