| 十二面体变几何桁架机器人位置正解分析 |
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| 引用本文： | 姚进,房海蓉.十二面体变几何桁架机器人位置正解分析[J].中国机械工程,1996,7(6):50-52. |
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| 作者姓名： | 姚进 房海蓉 |
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| 作者单位： | 四川联合大学 |
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| 基金项目： | 国家自然科学基金,国家教委优秀年轻教师基金 |
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| 摘 要： | 提出一种十二面体变几何桁架机器人机构正位置分析的代数求解方法，结合一附加线性位移传感器所测数据，推导出正位置分析的两组显式解析解，避免了高于四次方程和大型线性方程组的求解，具有计算精度高，速度快的特点，将满足十二面体变几何桁架机器人实时控制的需要。
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| 关 键 词： | 十二面体 变几何桁架机构 机器人 位置正解 |
Forward Displacement Analysis of the Dodecahedral Variable Geometry Truss Manipulators |
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| Yao Jin et al..Forward Displacement Analysis of the Dodecahedral Variable Geometry Truss Manipulators[J].China Mechanical Engineering,1996,7(6):50-52. |
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| Authors: | Yao Jin |
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| Affiliation: | Sichuan Union University.Chengdu. China |
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| Abstract: | An algebraic method is proposed for the forward displacement analysis of the dodecahedral variable geometry truss manipulators. By combining the data measured by an additional linear sensor. two solutions for the forward displacement analysis can be found not only in closed-form, but also by a set of explicit expressions, which avoids solving equations of not higher than fourth order with one unknown and large-scale systems of linear equations. Therefore the minimal amount of computation is needed and the accuracy is improved, which is suitable for the implementation of a real-time control. |
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| Keywords: | dodecahedral truss variable geomtry truss manipulators robot forward displacement analysis |
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