| 4-3型六自由度并联机构的位置正逆解分析 |
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| 引用本文： | 朱帅帅,沈惠平,王振,李云峰,马正华.4-3型六自由度并联机构的位置正逆解分析[J].江苏工业学院学报,2013(4):32-36. |
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| 作者姓名： | 朱帅帅 沈惠平 王振 李云峰 马正华 |
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| 作者单位： | 常州大学机器人研究所,江苏常州213016 |
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| 基金项目： | 国家自然科学基金项目（51075045）;江苏省重大科技支撑与自主创新项目（BE2010074,BE2010061） |
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| 摘 要： | 在对4-3型六自由度进行机构拓扑结构分析得出其耦合度为0的基础上；首先,通过顺序求解该机构各个基本运动链的位置,以求出输出平台的位置正向解析解表达式,再通过求解机构的位置反解,验证了全部正解的准确性.这种基于拓扑结构耦合度分析的位置求解方法,无须通过复杂的数学方法来建立、求解机构位置方程的一元代数高次方程,计算简易,而导出的正逆解析解便于实时控制及其后续的工作空间、误差分析等研究.
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| 关 键 词： | 六自由度 并联机构 正解 解析解 |
Forward and Inverse Kinematics Solution for 4-3 Type 6-DOF Parallel Mechanism |
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| ZHU Shuai-shuai,SHEN Hui-ping,WANG Zhen,LI Yun-feng,MA Zheng-hua.Forward and Inverse Kinematics Solution for 4-3 Type 6-DOF Parallel Mechanism[J].Journal of Jiangsu Polytechnic University,2013(4):32-36. |
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| Authors: | ZHU Shuai-shuai SHEN Hui-ping WANG Zhen LI Yun-feng MA Zheng-hua |
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| Affiliation: | 1.Institute for Robot, Changzhou University, Changzhou 213016, China;) |
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| Abstract: | On the basic of the coupling degree of topological structure analysis for 4-3 type 6-DOF parallel mechanism is 0,firstly,general expression of forward kinematics analytical solutions can be deduced by solving the position of each BKC （basic kinematic chain） in sequence,included in the parallel mechanism.Secondly,all the solutions are verified by performing inverse kinematics.This analytical method,based on the topological structure analysis,need not to establish,derivate and solve complex mathematical position equations of a Yuan algebraic equation of high degree and the calculation is easy.Meanwhile,its forward and inverse kinematics analytical solution is convenient for real time control and the analysis of work space and error in the future. |
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| Keywords: | 6-DOF parallel mechanism forward kinematics analytical solution |
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