基于运动耦合结构的并联机器人运动学正逆解

根据运动学等效的原则，在并联机器人中引入等效串联机器人及分支等效串联机器人，以等效广义坐标为中间变量建立并联机器人运动学正道解求解算法。该算法能有效处理结构带来的运动耦合，并且规划的软件具有自动生成迭代初始点、避免多解性以及便于实际应用等特点，从而为并联机器人的结构设计与创新提供了理论支持。

The Kinematics of the Parallel Manipulators with the Derived Motion Structure

With the view of kinematics equivalence between parallel manipulators and serial manipulators, a supposed serial mechanism which is kinematically equivalent to parallel manipulator and six branches regarded as six branch serial mechanisms are used to generate interation algorithm, which is based on equivalent generalized coordinates. According to the algorithm, the problem of derived motion which comes from the structure can be solved efficiently. The program of the algorithm has the advantages of generating the initial value of the iteration automatically, avoiding the multi-solution and easily carrying out. So that, the algorithm offers theoretical base to design new structure of the parallel manipulators.