| 基于路径跟踪原理求解6-SPS并联机构位置正解 |
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| 引用本文： | 韩先国,陈五一,陈鼎昌.基于路径跟踪原理求解6-SPS并联机构位置正解[J].北京航空航天大学学报,2002,28(3):370-372. |
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| 作者姓名： | 韩先国 陈五一 陈鼎昌 |
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| 作者单位： | 北京航空航天大学,机械工程及自动化学院 |
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| 基金项目： | 国家自然科学基金;59875004; |
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| 摘 要： | 以6-SPS并联机构为例,基于路径跟踪原理,提出一种求解并联机构位置正解的预估-校正法.该方法通过求解并联机构位姿方程的微分初值问题,经过路径跟踪,可求出指定杆长动平台的正确位姿,并可求出从初值到待求值的中间结果.仿真结果表明,该方法具有计算速度快,收敛范围大,计算结果可靠的特点.
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| 关 键 词： | 位置跟踪 数值解 预估-校正法 并联机构 |
| 文章编号： | 1001-5965(2002)03-0370-03 |
| 收稿时间： | 2001-06-08 |
| 修稿时间： | 2001年6月8日 |
Method to Get the Forward Solution of a 6-SPS Parallel Manipulator Based on Position Tracking Principle |
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| HAN Xian-guo,CHEN Wu-yi,CHEN Ding-chang.Method to Get the Forward Solution of a 6-SPS Parallel Manipulator Based on Position Tracking Principle[J].Journal of Beijing University of Aeronautics and Astronautics,2002,28(3):370-372. |
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| Authors: | HAN Xian-guo CHEN Wu-yi CHEN Ding-chang |
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| Institution: | Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation |
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| Abstract: | A predictor corrector method to get the forward solution of a 6 SPS parallel manipulator was presented based on the principle of position tracking. By solving the initial value problem of the positional differential equation of the parallel manipulator, not only the position of platform can be determined when the lengths of six legs were specified, but also the transition positions between the two specified leg lengths can be determined. Effectiveness and speediness of the proposed method was demonstrated by simulation results. |
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| Keywords: | position tracking numerical solutions predictor corrector methods parallel manipulator |
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