6—3型Stewart平台并联机构的运动学正解

针对6—3型Stewart平台并联机构运动学正解的问题，提出了一种新型的快速数值解法，该数值法能得到一个精确的惟一解。该方法主要是利用了6—3型Stewart平台的运动学反解的一些特性，得到一个有关杆长的微变量与动平台的微变量之间的线性方程式。再通过叠加杆长的连续的微小变量，得到6—3型Stewart平台的运动学正解。最后以反解为已知条件，通过算例进行了验证。同时采用Mathematica符号软件来提高求解位姿的计算效率。

Numerical Method for Forward Kinematics of 6 -3 Stewart Platform Parallel Manipulator

It presents a new type of fast numerical method, by which an accurate unique solution can be generated directly for forward kinematics of 6 - 3 Stewart platform parallel manipulator. This method applies the specific properties of the inverse kinematics of 6 - 3 Stewart platform parallel manipulator and describes a linear equation. The equation gives linear relation between the small variables of leg lengths and the resulting small motion of the moving platform. By means of the equation and superposition of continuous small variables of leg lengths, it obtaines the forward kinematics of the 6 - 3 Stewart platform. Finally, it takes the inverse kinematics as known condition, introduces a computational example, and uses the Mathematica software to increase efficiency of computation for solving problem of position and orientation.