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6-3 Stewart平台位置正解的机构简化数值方法

 引用本文: 薛剑, 唐志勇, 裴忠才等 . 6-3 Stewart平台位置正解的机构简化数值方法[J]. 北京航空航天大学学报, 2014, 40(7): 921-926.
Xue Jian, Tang Zhiyong, Pei Zhongcaiet al. Numerical method of forward position solution for 6-3 Stewart platform based on mechanism simplification[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(7): 921-926. doi: 10.13700/j.bh.1001-5965.2013.0492(in Chinese)
 Citation: Xue Jian, Tang Zhiyong, Pei Zhongcaiet al. Numerical method of forward position solution for 6-3 Stewart platform based on mechanism simplification[J]. Journal of Beijing University of Aeronautics and Astronautics, 2014, 40(7): 921-926. (in Chinese)

• 中图分类号: TH112

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

• 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.

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##### 出版历程
• 收稿日期:  2013-09-18
• 刊出日期:  2014-07-20

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