| 3-UPU转动并联机构的两类位置正解分析 |
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| 引用本文： | 郑相周,宾鸿赞,罗友高.3-UPU转动并联机构的两类位置正解分析[J].华中科技大学学报(自然科学版),2003,31(4):1-3. |
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| 作者姓名： | 郑相周 宾鸿赞 罗友高 |
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| 作者单位： | 华中科技大学机械科学与工程学院 |
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| 摘 要： | 根据纯转动型3—UPU并联机构的几何特点，使用四元数变换方法，构造了一类单正交条件下的3—UPU并联机构位置正解分析的参数化方程，可使用三角恒等变换来求解该方程；并使用单位四元数变换求出其双正交条件下的8个封闭的位置正解，该正解为4组共扼解．
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| 关 键 词： | 3－UPU并联机构 四元数变换 位置正解分析 参数化方程 三角恒等变换 正交旋转矩阵 |
| 文章编号： | 1671-4512(2003)04-0001-03 |
| 修稿时间： | 2002年10月17 |
Analysis of two kinds of forward position in 3-UPU parallel mechanism with pure spherical rotation |
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| Zheng Xiangzhou Bin Hongzan Luo Yougao Zheng Xiangzhou Doctoral candidate, College of Mech. Sci. & Eng.,Huazhong Univ. of Sci. & Tech.,Wuhan ,China..Analysis of two kinds of forward position in 3-UPU parallel mechanism with pure spherical rotation[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2003,31(4):1-3. |
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| Authors: | Zheng Xiangzhou Bin Hongzan Luo Yougao Zheng Xiangzhou Doctoral candidate College of Mech Sci & Eng Huazhong Univ of Sci & Tech Wuhan China |
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| Institution: | Zheng Xiangzhou Bin Hongzan Luo Yougao Zheng Xiangzhou Doctoral candidate, College of Mech. Sci. & Eng.,Huazhong Univ. of Sci. & Tech.,Wuhan 430074,China. |
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| Abstract: | UPU parallel mechanism has an elegant structure compared with the Stewart mechanism. Under specific conditions, spherical rotation will be only done. The forward position analysis was simplified to search solutions of its platform orientation about the base. According to its specific geometry, a parameterized equation of forward position analysis was constructed under single orthogonal geometry by using unit quaternion transformation. Based on unit quaternion transformation, 8 closed form solutions of forward position were presented, which are 4 conjugate pairs. |
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| Keywords: | 3-UPU parallel mechanism unit quaternion transformation forward position analysis |
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