| 3-6 Stewart平台机械手运动学正问题的解析方法 |
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| 引用本文： | 刘敏杰,李从心.3-6 Stewart平台机械手运动学正问题的解析方法[J].上海交通大学学报,2000,34(3):423-425. |
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| 作者姓名： | 刘敏杰 李从心 |
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| 作者单位： | 上海交通大学,国家模具CAD工程研究中心,上海,200030 |
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| 摘 要： | 将３－６Ｓｔｅｗａｒｔ平台机械手的运动学正问题转化为非线性代数方程组的求解问题，然后利用非线性代数方程组的符合号求解方法－聚筛法，推导出３－６Ｓｔｅｗａｒｔ平台机械手运动学正问题的解析解，并得出结论：对应一组给定的输入杆长，该机构最多有２０个可能的位形。利用这种机械化符号求解方法求解机构的运行学问题，无需同特别的技巧，只须按规定步骤求解就可得到所有的根，且无增无漏，为机器人学、机构不的解析研究提供
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| 关 键 词： | 机械手 运动学 正问题 代数方程 3－6Stewart平台 |
| 修稿时间： | 1998-12-14 |
Analytical Direct Kinematic Solution of a 3-6 Stewart Platform Manipulator |
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| LIU Min-jie,LI Cong-xin.Analytical Direct Kinematic Solution of a 3-6 Stewart Platform Manipulator[J].Journal of Shanghai Jiaotong University,2000,34(3):423-425. |
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| Authors: | LIU Min-jie LI Cong-xin |
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| Abstract: | The direct kinematics problem of a3- 6Stewart platform was translated into the solution of a nonlinear algebraic equation system,then the analytical direct kinematic solution of3- 6Stewart platform manipulator was deduced based on Gather- and- Siftmethod which is a symbolic method of nonlinear alge- braic equation system.The analytical results show thatthere may be existup to2 0 solutions for the direct kinematics problem of3- 6Stewartplatform.By this mechanized method,there is no need forspecial skills to solve kinematics problems,and all the roots can be obtained by the prescribed processing steps. |
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| Keywords: | manipulators kinematics direct problem nonlinear algebraic equations |
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