北京航空航天大学学报 ›› 2002, Vol. 28 ›› Issue (3): 370-372.

• 论文 • 上一篇    

基于路径跟踪原理求解6-SPS并联机构位置正解

韩先国, 陈五一, 陈鼎昌   

  1. 北京航空航天大学 机械工程及自动化学院
  • 收稿日期:2001-06-08 出版日期:2002-03-31 发布日期:2010-09-26
  • 作者简介:韩先国(1970-),男,安徽来安人,博士生,100083,北京.
  • 基金资助:

    国家自然科学基金资助项目(59875004); 航空科学基金资助项目(99H51124)

Method to Get the Forward Solution of a 6-SPS Parallel Manipulator Based on Position Tracking Principle

HAN Xian-guo, CHEN Wu-yi, CHEN Ding-chang   

  1. Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation
  • Received:2001-06-08 Online:2002-03-31 Published:2010-09-26

摘要: 以6-SPS并联机构为例,基于路径跟踪原理,提出一种求解并联机构位置正解的预估-校正法.该方法通过求解并联机构位姿方程的微分初值问题,经过路径跟踪,可求出指定杆长动平台的正确位姿,并可求出从初值到待求值的中间结果.仿真结果表明,该方法具有计算速度快,收敛范围大,计算结果可靠的特点.

Abstract: A predictor-corrector method to get the forward solution of a 6-SPS parallel manipulator was presented based on the principle of position tracking. By solving the initial value problem of the positional differential equation of the parallel manipulator, not only the position of platform can be determined when the lengths of six legs were specified, but also the transition positions between the two specified leg lengths can be determined. Effectiveness and speediness of the proposed method was demonstrated by simulation results.

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