| 一种新型四自由度并联机器人运动学正问题的求解 |
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| 引用本文： | 郭阳,张祥德,赵明扬.一种新型四自由度并联机器人运动学正问题的求解[J].机械科学与技术(西安),2000,19(Z1):141-143. |
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| 作者姓名： | 郭阳 张祥德 赵明扬 |
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| 作者单位： | 郭阳（东北大学，沈阳 110006）;张祥德（中科院沈阳自动化所，沈阳 110015）;赵明扬（中科院机器人学开放研究实验室，沈阳 110015） |
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| 摘 要： | 对一种新型四自由度并联机器人运动学正问题进行了研究，利用３个变量构造 出求解正问题的３个约束方程，然后运用符号计算和析配消元法推导出了只含有一 个变元的３２次多项式方程，并且应用计算机软件系统Ｍａｔｈｅｍａｔｉｃａ进行了求正问 题实解的数值验证。
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| 关 键 词： | 并联机器人 运动学 符号计算 析配消元法 |
| 文章编号： | 1003-8728(2000)ZK-0141-03 |
| 修稿时间： | 2000年4月10日 |
On the Direct Kinematics of a New 4-DOF Parallel Robot |
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| GUO Yang,ZHANG Xiang-de,ZHAO Ming-yang.On the Direct Kinematics of a New 4-DOF Parallel Robot[J].Mechanical Science and Technology,2000,19(Z1):141-143. |
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| Authors: | GUO Yang ZHANG Xiang-de ZHAO Ming-yang |
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| Abstract: | This paper presents the closed-form solution of the direct kinematics problem of a new 4-DOF parallel robot. Since the derivation of closed-form direct kinematics is very complicated, it is desirable to find a set of possible simplest constraint equations as the basic equations. This will not only help to simplify the derivation procedure but also help to avoid the extraneous solutions. According to geometric conditions, we constructed a set of three equations in three variables. Then making use of symbolic computation method and Dialytic method, the direct kinematics was reduced to a 32th order polynomial equation in one variable. Two numerical examples for the real solutions of the direct kinematics are given by the software Mathematica. |
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| Keywords: | Parallel robot Kinematics Symbolic computation Dialytic method |
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