| 6-6 SPS 6自由度Stewart并行机构位姿正解单解存 |
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| 引用本文： | 吕崇耀.6-6 SPS 6自由度Stewart并行机构位姿正解单解存[J].机器人,2000,22(2):148-153. |
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| 作者姓名： | 吕崇耀 |
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| 作者单位： | 华中理工大学机械科学与工程学院,武汉,430074 |
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| 基金项目： | 国家自然科学基金资助项目 !(596750 72 ,597750 16,697750 2 1,59990 4 70 ) |
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| 摘 要： | 在获得了6-66自由度Stewart 并行机构位姿正解
的基础上，进一步提出了6-66自由度Stewart 并行机构位姿正解单解存在的条件．数字
模拟结果显示了该条件的适用性．
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| 关 键 词： | 6自由度Stewart并行机构 运动学位姿正解 |
EXACT CLOSED-FORM FORWARD KINEMATICS OF 6-6 6DOF STEWART IN-PARALLEL MECHANISMS |
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| LU Chong-yao.EXACT CLOSED-FORM FORWARD KINEMATICS OF 6-6 6DOF STEWART IN-PARALLEL MECHANISMS[J].Robot,2000,22(2):148-153. |
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| Authors: | LU Chong-yao |
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| Abstract: | Based on the closed form forward kinematics of the 6 6 6 DOF Stewart parallel mechanisms, the conditions for the exact closed form forward kinematics of the 6 6 Stewart parallel mechanisms were studied of. Necessary simulation was carried out to verify the suitability of the conditions. |
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| Keywords: | DOF stewart platform forward kinematics |
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