摘要
用球面三角学的方法求 3自由度球面并联机构的位姿正解 ,使其平面化。找出了能确定 Stewart平台 3自由度运动的 2个输出变量 ,使求解工作大为简化。用消元法解决了一般 3自由度球面并联机构的位姿正解问题。以正交 3自由度球面并联机构为例 ,进行实例分析 ,导出了简洁的位姿正解显式解析式 ,完全解决了该机构实时控制的问题。
In this paper, a new technique based on spherics is developed to do direct position analysis of spherical three degree of freedom (3 DOF) parallel mechanism, making it change into a planar one. First, two output variables are found, which can exactly determine the position of 3 DOF Stewart platform. So the derivation is simplified. Then the direct position analysis problem of general spherical 3 DOF parallel mechanism is solved. Example of the application of the technique to orthogonal spherical 3 DOF parallel mechanism is given. The terse explicit analytic expressions of the two output variables are derived. Thus the real time control problem of the mechanism is completely solved.
出处
《武汉理工大学学报》
CAS
CSCD
2003年第6期46-49,共4页
Journal of Wuhan University of Technology
