| 一类 3-6 Stewart 平台的机构位置正解 |
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| 引用本文： | 王奇志 张祥德. 一类 3-6 Stewart 平台的机构位置正解[J]. 机械科学与技术, 1999, 18(2): 242-245 |
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| 作者姓名： | 王奇志 张祥德 |
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| 作者单位： | 东北大学 |
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| 基金项目： | 中国科学院机器人学开放研究实验室基金 |
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| 摘 要： | 应用代数方法对一类３－６Ｓｔｅｗａｒｔ平台的机构位置正解问题进行建模研究，得到一组代数方程组。进而利用数学方法、技巧进行消元、线性化。最后得到三个变元的高次方程组。应用计算机代数系统Ｍａｔｈｅｍａｔｉｃａ进行数值求解，并将结果进行仿真验证，结果完全正确，而且与已有方法相比计算速度快，便于实际应用。
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| 关 键 词： | 并联平台 位置正解 解析方法 数值方法 |
The Direct Displacement of a Class of 3 6 Stewart Platform Mechanisms |
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| Wang Qizhi Zhang Xiangde Xu Xinhe. The Direct Displacement of a Class of 3 6 Stewart Platform Mechanisms[J]. Mechanical Science and Technology for Aerospace Engineering, 1999, 18(2): 242-245 |
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| Authors: | Wang Qizhi Zhang Xiangde Xu Xinhe |
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| Abstract: | In this article, we use algebraic method to establish the system model and to study the direct displacement of a class of 3 6 Stewart platform. We get a set of algebraic equations. Through eliminat, on and linearization, we obtain a set of three variables quartic degree polynomial equations. We apply the computer algebra system Mathematica to get the numerical solutions. The results are correct and this method has higher computing speed in comparison with common method. It is convenient in practical application. |
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| Keywords: | Parallel platform Direct displacment of kinematics Analytic method Numerical method |
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