| 5-3型6-SPS并联机构位置分析的正逆解析解 |
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| 引用本文： | 黄涛,沈惠平,余同柱,段锁林,杨廷力. 5-3型6-SPS并联机构位置分析的正逆解析解[J]. 江苏工业学院学报, 2013, 0(2): 72-76 |
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| 作者姓名： | 黄涛 沈惠平 余同柱 段锁林 杨廷力 |
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| 作者单位： | 常州大学机器人研究所,江苏常州213016 |
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| 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） |
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| 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。
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| 关 键 词： | 六自由度 并联机构 位置正解 |
Analytical Solutions to the Forward and Inverse Positions of 5-3 Type 6-SPS Parallel Mechanism |
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| HUANG Tao,SHEN Hui-ping,YU Tong-zhu,DUAN Suo-lin,YANG Ting-li. Analytical Solutions to the Forward and Inverse Positions of 5-3 Type 6-SPS Parallel Mechanism[J]. Journal of Jiangsu Polytechnic University, 2013, 0(2): 72-76 |
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| Authors: | HUANG Tao SHEN Hui-ping YU Tong-zhu DUAN Suo-lin YANG Ting-li |
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| Affiliation: | ( Institute of Robot Research, Changzhou University, Changzhou 213016, China) |
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| 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. |
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| Keywords: | 6-DOF parallel mechanism forward position analysis |
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