6—SPS并联机构运动学数值分析

研究了6－SPS并联机构的运动学逆问题的数值计算和分析，详细地分析和讲座了动平台做直线轨迹运动和圆周轨迹运动时各驱动杆的运动速度、加速度、加速度的变化情况，分析结果表明，6－SPS并联机构是增速机构，其增速随动平台位置及运动方向变化；6－SPS动平台做匀速运动时，各驱动杆做变速运动；6－SPS动平台做圆周运动时，各驱动杆按三角函数规律做伸缩运动。

Numerical analysis of kinematics of 6-SPS parallel framework

In the recent years parallel framework has drawn a lot of interest in the machine tool and robotics community and in many applicative domains.This paper is concerned with the inverse kinematics of 6 SPS parallel manipulator (Stewart platform).The speeds and accelerations of 6 drives are analyzed with the numerical method (MATLAB) and discussed in detail,when the end effector's trajectories are linear and circle.The analysis results show that the 6 SPS parallel manipulator is a acceleration mechanism,and the acceleration is changed with the end effector 's position and moving direction;the 6 drives are moving in variable speeds when the end effector dose the uniform motion;the 6 drives are moving with the speeds in the trigonometric function when the end effector does the circular motion.