| 6/6-SPS型Stewart并联机构运动学正解的研究 |
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| 引用本文： | 曹毅,李保坤,周辉,张文祥.6/6-SPS型Stewart并联机构运动学正解的研究[J].安徽理工大学学报(自然科学版),2008,28(1):40-44. |
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| 作者姓名： | 曹毅 李保坤 周辉 张文祥 |
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| 作者单位： | 1. 江南大学机械工程学院,江苏,无锡,214122
2. 安徽理工大学机械工程学院,安徽,淮南,232001 |
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| 基金项目： | 国家自然科学基金
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江南大学博士基金 |
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| 摘 要： | 对具有半对称结构的6/6-SPS型Stewart并联机构的运动学正解进行了研究。建立了一类具有半对称结构的6/6-SPS型Stewart并联机构运动学正解的数学模型,构造了一个关于该并联机构动平台位置参数及姿态参数的多元多项式方程组。基于该方程组并采用Mathematica符号计算软件编制了基于Mathematica语言的6/6-SPS型Stewart并联机构运动学正解的求解程序,计算结果表明,对于任意给定的该并联机构的结构参数以及六个驱动杆杆长,该类6/6-SPS型Stewart并联机构的运动学正解在复数域内最多有28组解析解。
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| 关 键 词： | Stewart机构 运动学正解 符号计算Mathematica软件 |
| 文章编号： | 1672-1098(2008)01-0040-05 |
| 修稿时间： | 2007年9月28日 |
Direct Kinetics Analysis of A Special Class of the 6/6-SPS Stewart Manipulators |
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| CAO Yi,LI Bao-kun,ZHOU Hui,ZHANG Wen-xiang.Direct Kinetics Analysis of A Special Class of the 6/6-SPS Stewart Manipulators[J].Journal of Anhui University of Science and Technology:Natural Science,2008,28(1):40-44. |
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| Authors: | CAO Yi LI Bao-kun ZHOU Hui ZHANG Wen-xiang |
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| Abstract: | In the paper direct kinematics analysis of a special class of the 6/6SPS Stewart manipulators is presented.The mathematical algorithm of direct kinematics analysis of Stewart manipulators of 6/6-SPS type with semisymmetrical structure was established.A multivariate polynomial equation set with position parameters and orientation parameters of the parallel manipulators in moving platform was constructed.On the basis of the equation set and symbolic computation software Mathematica,the program for direct kinetics analysis of 6/6-SPS Stewart manipulators was composed.Computation results show that the maximum number of solution to the direct kinematics problem of 6/6-SPS Stewart manipulators is up to 28 in complex domain for any given set of geometric parameters and length of six given links of the manipulator considered in the paper. |
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| Keywords: | Stewart manipulator direct kinematics analysis symbolic computation software Mathematica |
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