[1]黄 涛,沈惠平,余同柱,等.5-3型6-SPS并联机构位置分析的正逆解析解[J].常州大学学报(自然科学版),2013,(02):72-76.[doi:10.3969/j.issn.2095-0411.2013.02.018]
　HUANG Tao,SHEN Hui ping,YU Tong zhu,et al.Analytical Solutions to the Forward and Inverse Positions of 5-3 Type 6-SPS Parallel Mechanism[J].Journal of Changzhou University(Natural Science Edition),2013,(02):72-76.[doi:10.3969/j.issn.2095-0411.2013.02.018]
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5-3型6-SPS并联机构位置分析的正逆解析解()
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常州大学学报(自然科学版)[ISSN:2095-0411/CN:32-1822/N]

卷:
期数:
2013年02期
页码:
72-76
栏目:
出版日期:
2013-03-30

文章信息/Info

Title:
Analytical Solutions to the Forward and Inverse Positions of 5-3 Type 6-SPS Parallel Mechanism
作者:
黄 涛; 沈惠平; 余同柱; 段锁林; 杨廷力
常州大学 机器人研究所,江苏 常州 213016
Author(s):
HUANG Tao;  SHEN Hui ping;  YU Tong zhu;  DUAN Suo lin;  YANG Ting li
Institute of Robot Research, Changzhou University, Changzhou 213016, China
关键词:
六自由度;  并联机构;  位置正解
Keywords:
6-DOF;  parallel mechanism;  forward position analysis
分类号:
TH 11
DOI:
10.3969/j.issn.2095-0411.2013.02.018
文献标志码:
A
摘要:
应用基于序单开链的机构结构理论,分析计算出5-3型6-SPS并联机构的耦合度为0,直接通过依次求解各个基本运动链的位置求出了机构位置正解的解析表达式,无需复杂的数学推导; 又通过求解位置反解及算例,验证了位置正解的准确性。该方法计算简易、几何意义明确,得到的位置正、逆解析式有利于实时控制及工作空间、误差分析等的理论求解与分析。
Abstract:
Based on the mechanism structure theory of single-opened-chain,the coupling-degree of 5-3 type 6-SPS parallel mechanism is calculated to be 0, and analytical expression of forward position analysis can be carried out from calculating each basic kinematic chain.And the results of forward position analysis was verified by inverse position analysis.The algorithm had simple solution principle and clear geometric meaning. What's more, the analytic expression of forward and inverse position analysis was beneficial to real-time control and solution the work space and error analysis.

参考文献/References:

[1] 杨永刚.6-PRRS并联机器人关键技术的研究[D].哈尔滨:哈尔滨工业大学,2008.
[2] 黄真,赵永生,赵铁石.高等空间机构学[M].北京:高等教育出版社,2006.
[3] Raghavan M.The stew art platform of general geometry has 40 configurations[J].ASME JM ech Des,1993,115(1):227-282.
[4] 李磊.六自由度并联平台位置正解与控制方法研究[D].哈尔滨:哈尔滨工程大学,2008.
[5] 杨廷力.机器人机构拓扑结构学[M].北京:机械工业出版社,2004.
[6] 杨廷力.机器人机构拓扑结构设计[M].北京:科学出版社,2012.
[7] 杨廷力.机械系统基本理论-结构学、运动学、动力学[M].北京:机械工业出版社,1996.

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备注/Memo

备注/Memo:
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) 作者简介:黄涛(1988-),男,江苏南京人,硕士生; 通讯联系人:沈惠平。
更新日期/Last Update: 2013-03-30