并联机器人机构位置正解

从简单，特殊的并联机构开始，首次获得３－ＴＰＳ、３－６ＳＰＳ台体机构位置正解沿２条途径，分别获得５－４（ｄ）型、６－４型机构、６－４台体机构、６－５型机构和３－３型的５－５、６－５式机构位置正解，并验证了机构解的数目。

The Forward Displacement Analysis of Parallel Robotic Mechanisms

It is very difficult to seek the closed-form solution in forward displacement analysis (FDA) for the Parallel Robotic Mechanism (PRM). The FDA, which involves highly nonlinear equations, needs highly math skill and advanced method with computer. The first step we work is to seek the solution of the simple or special PRM, 3-TPS and 3-6 SPS. The following step is along two ways, one way is to get 5-4(d) shape, 6-4 shape, 6-5 shape, the another way is to get 5-5 type, 6-5 type in 3-3 shape. All configurations of above mechanisms had been found, which gone ahead on the researches of closed form FDA for PRM at home. The research on displacement analysis of the 6-6 Stewart platform mechanisms has gone ahead in the world.