摘要
将3-6Stewart平台机械手的运动学正问题转化为非线性代数方程组的求解问题,然后利用非线性代数方程组的符号求解方法——聚筛法,推导出3-6Stewart平台机械手运动学正问题的解析解,并得出结论:对应一组给定的输入杆长,该机构最多有20个可能的位形.利用这种机械化符号求解方法求解机构的运动学问题,无需特别的技巧,只须按规定步骤求解就可得到所有的根,且无增无漏,为机器人学。
The direct kinematics problem of a3- 6Stewart platform was translated into the solution of a nonlinear algebraic equation system,then the analytical direct kinematic solution of3- 6Stewart platform manipulator was deduced based on Gather- and- Siftmethod which is a symbolic method of nonlinear alge- braic equation system.The analytical results show thatthere may be existup to2 0 solutions for the direct kinematics problem of3- 6Stewartplatform.By this mechanized method,there is no need forspecial skills to solve kinematics problems,and all the roots can be obtained by the prescribed processing steps.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2000年第3期423-425,共3页
Journal of Shanghai Jiaotong University
