| 一类6-SPS并联机构正运动学符号解分析 |
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| 引用本文： | 李鹭扬,吴洪涛.一类6-SPS并联机构正运动学符号解分析[J].扬州大学学报(自然科学版),2006,9(3):42-45. |
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| 作者姓名： | 李鹭扬 吴洪涛 |
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| 作者单位： | 1. 扬州大学,机械工程学院,江苏,扬州,225009;南京航空航天大学,机电学院,南京,210016
2. 南京航空航天大学,机电学院,南京,210016 |
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| 基金项目： | 扬州大学自然科学基金资助项目(JK0413158)，国家自然科学基金资助项目(50375071) |
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| 摘 要： | 并联机构正运动学是一个位置和姿态耦合的复杂非线性问题,一般难以求得符号解.对于一类6-SPS并联机构,通过引入四元素来描述动平台的转动,不仅能够避免产生公式奇异性,而且将高阶的正运动学方程降阶为一组二阶方程.在这组方程中,动平台的位置和姿态是解耦的,可以通过求根公式符号地解析出机构的8种装配模式,其结果揭示了这类并联机构正解之间内在的对称关系.
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| 关 键 词： | 并联机构 正运动学 符号解 四元数 |
| 文章编号： | 1007-824X（2006）03-0042-04 |
| 收稿时间： | 2006-03-15 |
| 修稿时间： | 2006-03-15 |
A symbolic solution of forward kinematics analysis of a 6-SPS parallel mechanism |
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| LI Lu-yang,WU Hong-tao.A symbolic solution of forward kinematics analysis of a 6-SPS parallel mechanism[J].Journal of Yangzhou University(Natural Science Edition),2006,9(3):42-45. |
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| Authors: | LI Lu-yang WU Hong-tao |
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| Abstract: | The forward kinematics is a complicated nonlinear problem,however,there exists a class of parallel mechanism that has the simplest forward kinematics.This paper presents the forward kinematic analysis of a special 6-SPS parallel mechanism.By introducing quaternion to represent the transformation matrix,the forward kinematics can be expressed in the form of a set of quadratic algebra equations,which decouples the position and orientation of the mobile platform. Besides,formula singularity is avoided automatically.There are eight symbolic solutions obtained from the approach.The results show the inner symmetry relationship between the solutions of the forward kinematics. |
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| Keywords: | parallel mechanism forward kinematics symbolic solution quaternion |
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