通用Stewart平台运动学正向数值求解方法及应用  

FORWARD KINEMATICS OF GENERAL STEWART PLATFORM AND THE APPLICATION

作　　者：张辉[1] 王启明[2] 叶佩青[3] 汪劲松[3] 

机构地区：[1]清华大学精密仪器与机械学系,北京100084 [2]中科院国家天文台 [3]清华大学

出　　处：《机械工程学报》2002年第z1期108-112,共5页Journal of Mechanical Engineering

基　　金：国家863计划(2002AA42051);清华大学机械工程学院重点基金(091202001);清华大学基础研究基金(09252006)

摘　　要：为了得到通用Stewart平台的运动学正向求解非线性方程组的全部解或者使其求解效率满足实时应用,研究人员进行了长期的研究,找到多种解决方案,但是不同方案之间缺乏系统的比较。为此,对并联机构的运动学正向数值求解研究进行了综述;并且,针对通用Stewart平台的四种典型运动学正向数值求解方法,在精度一致的前提下,比较了计算效率。结果表明,改进的Jacobi矩阵法的计算时间开销在1ms以内,计算效率最高,建议在实时场合下应用。To obtain all solutions and high solving efficiency of the forward kinematics of general Stewart platform, which is a set of 6 highly nonlinear simultaneous equations with 6 unknowns, some methods are put forward after long-term studies. But no comparisons have been made among these methods systematically. So the studies of the forward kinematics of Stewart platform are reviewed firstly; then four typical numerical methods are analyzed. Under the same accuracy, the calculating efficiencies are compared. The results show that the method of modified Jacobi matrix can provide the highest solving efficiency. The calculating time is lower than 1 ms. It is an advisable choice when applied in real time.

关 键 词：STEWART平台 并联机构 运动学正解 

分 类 号：TH112[机械工程—机械设计及理论]