摘要
A systematic method for the forward kinematics of a five degrees of freedom （5-DOF） parallel mechanism with the legs＇ topology 4-UPS/UPU, is developed. Such mechanism is composed of a movable platform connected to the base by four identical 6-DOF active limbs plus one active limb with its DOF being exactly the same as the specified DQF of the movable platform. Three translational and two rotational DOFs can be achieved. Firstly, a set of polynomial equations of forward position analysis is formulated based on the architecture of the mechanism. Then the system of equations is degraded from five-dimensional to three-dimensional by means of analytic elimination. Method of least squares and Gauss-Newton algorithm are used to construct the objective function and to solve it, respectively. Example shows that through 4-time iteration within 16 ms the ohjective, function converaes to the provided error tolerance. 10^-4.
为前面的 kinematics 的一个系统的方法一自由(5-DOF ) 的五度有腿的平行机制“拓扑学 4-UPS/UPU，被开发。如此的机制由四相同 6-DOF 连接到底的一个活动平台组成加有它作为活动站台的指定 DOF 一模一样的 DOF 的一活跃手足的活跃手足。Threetranslational 和二旋转 DOF 能被完成。第一，前面的位置分析的一套多项式方程基于机制的建筑学被提出。然后，方程的系统被降级从对五维借助于分析消除三维。最小平方和高斯牛顿算法的方法被用来构造客观功能并且解决它。分别地。通过在 16 ms 以内的 4 倍的重复，客观功能集成到提供的误差公差的例子表演， 10 ~(-4) 。
基金
Supported by National Science Fund for Distinguished Young Scholars of China (No.50328506)
Science and TechnologyChallenge Program of Tianjin (No.043103711).
