| 6-6 并联机构封闭运动学位姿正解单解 |
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| 引用本文： | 吕崇耀,熊有伦.6-6 并联机构封闭运动学位姿正解单解[J].华中科技大学学报(自然科学版),1999,27(7):2. |
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| 作者姓名： | 吕崇耀 熊有伦 |
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| 作者单位： | 华中理工大学机械科学与工程学院 |
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| 摘 要： | 用代数法研究了6-6六自由度Stewart
并联机 构封闭运动学位姿正解单解.在添加了一个附加位移传感器的基础上，解得了上平台六铰接
点中三个铰接点在惯性坐标系中的矢量分量，并将其直接转化为六个自由度，从而获得了6
-6 六自由度Stewart 并联机构封闭运动学位姿正解单解及其存在的条件.
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| 关 键 词： | 六自由度 Stewart并联机构 运动学位姿正解 运动学位姿反解 |
| 修稿时间： | 1999-01-22 |
A Closed-Form Forward Kinematics of 6-6 Stewart In-Parallel Mechanisms |
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| Lu Chongyao,Xong Youlun.A Closed-Form Forward Kinematics of 6-6 Stewart In-Parallel Mechanisms[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1999,27(7):2. |
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| Authors: | Lu Chongyao Xong Youlun |
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| Abstract: | A closed form solution for forward kinematics of a 6 6 6DOF Stewart in
parallel mechanisms was studied algebraically. Three vertexes among the six in the inertial frame
were obtained with the additional sensor, and the platform pose was recovered directly. An exact
solution of the closed form forward kinematics and the conditions under which the exact solution
of the closed form forward kinematics existed were obtained theoretically. |
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| Keywords: | DOF Stewart in parallel mechanisms forward kinematics inverse kinematics |
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