| 新型6-CCS并联机器人机构的运动学正解及仿真 |
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| 引用本文： | 甘东明,廖启征,王品,魏世民. 新型6-CCS并联机器人机构的运动学正解及仿真[J]. 中国机械工程, 2007, 18(24): 2903-2906 |
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| 作者姓名： | 甘东明 廖启征 王品 魏世民 |
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| 作者单位： | 北京邮电大学,北京,100876 |
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| 基金项目： | 国家重点基础研究发展计划(973计划);国家自然科学基金;教育部科学技术研究重点项目;教育部高等学校博士学科点专项科研基金 |
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| 摘 要： | 介绍了一种由圆柱副、圆柱副和球面副构成的基于点、线间距离约束的新型解耦并联机构6-CCS，对结构和运动学正解进行了研究。通过对三个位置约束方程构造Dixon结式，去掉其中线性相关的三行三列，导出了一元64次输入输出方程，并根据位置的8个解与姿态解互相解耦的特点，总共有512个解。然后使用数值算例验证了其全部根。结合VC+[KG-*2]+6.0和OpenGL对其进行了三维建模和运动仿真，验证了这一新机构的可行性。
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| 关 键 词： | 广义Stewart平台；圆柱副；运动学正解；自由度分析；运动仿真 |
| 文章编号： | 1004-132X（2007）24-2903-04 |
| 收稿时间： | 2006-10-31 |
| 修稿时间： | 2006-10-31 |
Forward Kinematics Analysis and Motion Simulation of a New 6-CCS Parallel Mechanism |
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| Gan Dongming,Liao Qizheng,Wang Pin,Wei Shimin. Forward Kinematics Analysis and Motion Simulation of a New 6-CCS Parallel Mechanism[J]. China Mechanical Engineering, 2007, 18(24): 2903-2906 |
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| Authors: | Gan Dongming Liao Qizheng Wang Pin Wei Shimin |
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| Abstract: | A new parallel mechanism 6-CCS which is composed of cylinder and spherical joints was described herein.A closed-form solution to the forward displacement analysis was presented.Dixon's resultant was used and the problem was reduced to a 64th degree polynomial equation in a single unknown,for the 8 position roots and the 64 orientation are unattached,512 different locations of the platform can be derived,numerical example confirms these theoretical results.Kinematics simulations were performed by using OpenGL in Visual C 6.0,which gives a very effective validation of this new idea and the new parallel mechanism. |
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| Keywords: | general Stewart platform cylinder forward kinematics analysis degree of freedom analysis kinematics simulation |
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