六自由度并联平台两种位置逆解方式的分析

六自由并联机械平台由于其高精度高承载能力的特性被广泛应用于精密姿态控制、飞行器模拟、精密数控机床等场合.通过对斜45°并联机械平台的仿真建模,利用位置逆解的原理提出了直接法和间接法两种位置逆解实现方式,分析了平台沿x,y,z轴的平移和绕x,y,z轴的旋转时各电动缸的长度变化,指导了实际应用时逆解方法的选择.

Analysis of Inverse Kinematics of the Six DOF Parallel Platform in Two Ways

Six freedom parallel mechanical platform is widely used in precision attitude control, aircraft simulation, precisionCNC machine tools and other occasions because of its high precision and high load-carrying capacity. After simulation model-ing the mechanical parallel platform at an angle of inclined 45°, this article proposed two positions inverse ways by using directmethod and indirect method, and analyzed the change in length of the electric cylinders when the platform translating along thex, y, z axis and rotating around the x, y, z axis. The result could be guidance for choosing inverse kinematics method in prac-tical application.