摘要
序单开链(SOC)法的特点,使运动学方程组的维数降到最低,对于大多数实用并联机器人机构,可降到一维。故借助于一维搜索法可得到该类机器人机构位置正解的所有实数解;与同伦连续法相比,计算效率较高;与代数解析法相比,显著减少了公式导出的繁琐与困难。
SOC method has been presented. The new method has the following features：The unknown variables of kinematic equations are the fewest,and it is only one unknown variable for most applied parallel manipulators with few freedoms. Accordingly,all the real direct displacement solutions can be obtained using one-dimension searching algorithm. Compared with Homotopy continuation,it has higher computing efficiency;Compared with algebraic method,it has evidently reduced the difficulty of deducing formulas.
出处
《机械设计与制造》
北大核心
2008年第11期182-184,共3页
Machinery Design & Manufacture
基金
国家自然科学基金项目(50275070)
关键词
并联机构
位置正解
序单开链
Parallel manipulator
Forward displacement
Ordered SOC method
