| 确定6自由度6-3-3并联机构位置正解的数值方法 |
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| 引用本文： | 高洪,赵韩,吕新生.确定6自由度6-3-3并联机构位置正解的数值方法[J].机械设计,2006,23(4):29-32. |
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| 作者姓名： | 高洪 赵韩 吕新生 |
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| 作者单位： | 合肥工业大学,机械与汽车工程学院,安徽,合肥,230009;安徽工程科技学院,机械工程系,安徽,芜湖,241000;合肥工业大学,机械与汽车工程学院,安徽,合肥,230009 |
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| 摘 要： | 首先，基于机构学理论和6自由度6—3—3并联机构的基本几何关系。利用MATLAB符号数学计算工具箱得到了求该机构正向位移解的非线性方程组。接着将谊方程组的求解问题转化为非线性最小二乘问题，使用MATLAB优化工具箱库函数lsqnonlin求出了具有明确工程意义的正向位移解。最后，给出了一个算侧。
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| 关 键 词： | 6自由度6-3-3并联机构 正向位移分析 符号数学计算工具箱 非线性最小二乘问题 优化工具箱 |
| 文章编号： | 1001-2354（2006）04-0029-04 |
| 收稿时间： | 2005-08-18 |
| 修稿时间： | 2005-08-182005-11-08 |
Numerical method for determining the forward solution of position of a 6-3-3 parallel mechanism with 6 degree of freedom |
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| GAO Hong,ZHAO Han,LV Xin-sheng.Numerical method for determining the forward solution of position of a 6-3-3 parallel mechanism with 6 degree of freedom[J].Journal of Machine Design,2006,23(4):29-32. |
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| Authors: | GAO Hong ZHAO Han LV Xin-sheng |
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| Affiliation: | 1. School of Mechanical and Automobile Engineering, Hefei Polytechnic University, Hefei 230009, China; 2. Department of Mechanical Engineering, Anhui Institute of Engineering Science and Technology, Wuhu 241000, China |
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| Abstract: | At first, based on mechanism theory and basic geometric relationship of 6-3-3parallel mechanism with 6 degree of freedom, utilizing computing toolbox of MATLAB symbolic mathematics the nonlinear equation set that could find the forward solution of displacement of that mechanism was obtained. And then let the problem of solving this equation set be transformed into the problem of nonlinear least squares, by the use of library function lsqnonlim of MATLAB optimal toolbox, the displacement forward solution possessing clear and definite engineering significance was obtained. Finally, a computational example was presented. |
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| Keywords: | 6-3-3 parallel mechanism with 6 degree of freedoms forward displacement calculation toolbox nonlinear toolbox analysis symbolic mathematics least squares problem optimized |
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