| 新型2CCC-4SPS角度约束并联机器人机构的运动学正解 |
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| 引用本文： | 甘东明,廖启征,魏世民.新型2CCC-4SPS角度约束并联机器人机构的运动学正解[J].北京邮电大学学报,2007,29(6):32-35. |
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| 作者姓名： | 甘东明 廖启征 魏世民 |
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| 作者单位： | (北京邮电大学 自动化学院，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： | 介绍了一种具有线线角度和点点距离约束的新型并联机构——角度约束并联机构（2CCC-4SPS），对自由度和运动学正解进行了研究；通过Sylvester结式及Groebner基的原理导出了位置正解输入输出方程，得出32组位置正解，并使用数值算例验证了其全部解。
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| 关 键 词： | 广义Stewart 平台 角度约束 运动学正解 |
| 文章编号： | 1007-5321（2007）06-0032-04 |
| 收稿时间： | 2007-03-25 |
| 修稿时间： | 2007年3月25日 |
Forward Kinematics Analysis of the New 2CCC-4SPS Parallel Mechanism |
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| GAN Dong-ming,LIAO Qi-zheng,WEI Shi-min.Forward Kinematics Analysis of the New 2CCC-4SPS Parallel Mechanism[J].Journal of Beijing University of Posts and Telecommunications,2007,29(6):32-35. |
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| Authors: | GAN Dong-ming LIAO Qi-zheng WEI Shi-min |
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| Affiliation: | (School of Automation，Beijing University of Posts and Telecommunications, Beijing 100876, China) |
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| Abstract: | A new parallel mechanism 2CCC-4SPS that has distance and angle constraints was described in this paper. The analysis of degree of freedom and forward kinematics were given. Sylvester’s resultant and Groebner basis theory were used and the problem of forward kinematics analysis was reduced to a 32nd degree polynomial equation in a single unknown, from which 32 different locations of the platform can be derived, numerical example confirms these theoretical results. |
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| Keywords: | general Stewart platform angle constraint forward kinematic resolution |
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