北京航空航天大学学报 ›› 2014, Vol. 40 ›› Issue (7): 921-926.doi: 10.13700/j.bh.1001-5965.2013.0492

• 论文 • 上一篇    下一篇

6-3 Stewart平台位置正解的机构简化数值方法

薛剑, 唐志勇, 裴忠才   

  1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100191
  • 收稿日期:2013-09-18 出版日期:2014-07-20 发布日期:2014-08-11
  • 作者简介:薛剑(1984-),男,陕西西安人,博士生,xxjjok@gmail.com.
  • 基金资助:

    国防重点学科建设资助项目(BHBKGW1-2)

Numerical method of forward position solution for 6-3 Stewart platform based on mechanism simplification

Xue Jian, Tang Zhiyong, Pei Zhongcai   

  1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2013-09-18 Online:2014-07-20 Published:2014-08-11

摘要: 针对提高Stewart平台运动学位置正解速度的问题,分析了传统基于速度雅可比的数值迭代方法,并对6-3 Stewart平台结构提出了一种基于机构简化的位置正解数值方法.将6-3 Stewart平台等效为虚拟3-RPS并联机构,通过牛顿-拉夫逊方法对其进行位置正解,并将结果解算为实际机构上平台位姿.设计了一套液压6-3 Stewart平台实验系统,并通过实验证明,与传统方法相比,该方法能减少近50%的迭代次数和约85%的解算时间.该方法概念清晰,机构等效计算简单,对3-RPS并联机构的位置正解计算量明显减少,在目前主流工控机处理器上可满足控制周期0.1 ms实时控制的位置解算需求.

Abstract: To increase the speed of forward position solution for Stewart platform, the classical iterative method based on speed Jacobian was analyzed, and the new method for 6-3 Stewart platform was proposed. 6-3 Stewart platform was simplified as virtual 3-RPS parallel mechanism and its forward position solution was obtained by Newton-Raphson method. The result was solved back to the pose of actual platform. Experimental results on self-designed hydraulic 6-3 Stewart platform system present that, compared with classical method, the new one reduced nearly 50% of iterations and about 85% of time cost for solution. The concept of the new method is clear, mechanism simplification is easy implementing, and the computational cost of forward position solution for simplified 3-RPS parallel mechanism is significantly decreased. The new method is capable for forward position solution in a real-time control with 0.1 ms control cycle.

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