6-PPPS正交六自由度并联机构的位置正反解  

Forward and Inverse Displacement Analysis of 6-PPPS Orthogonal 6-DOF Parallel Mechanism

作　　者：赵剑波[1] 高峰[2] 岳义[3] 

机构地区：[1]河北工业大学机械学院,天津300130 [2]上海交通大学机械系统与振动国家重点实验室,上海200240 [3]燕山大学机械学院,秦皇岛066004

出　　处：《机械科学与技术》2008年第1期96-101,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(60534020);国家973重点基础研究发展计划项目(2006CB705400)资助

摘　　要：针对一种新型6-PPPS并联机构,提出方向余弦阵法进行位置正反解的解析求解。利用机构运动副的运动参数构建并联动平台的方向余弦阵,通过添加约束条件,得到唯一的反解,同样方法可得出所有从动移动副的运动参数。根据方向余弦阵的性质构建约束方程,利用Maple软件辅助求得8组解析正解。根据球铰的约束,发现该机构实际正解唯一,给出了唯一正解的求取方法。In this paper, a new method for forward and inverse displacement analysis of a new parallel mechanism is proposed based on direction-cosine matrix. A direction-cosine matrix of moving parallel platform is constructed by the motion parameters of a mechanism pair. Unique inverse solution is obtained by the direction-cosine matrix and other constraint equations. In the same way, the motion parameters of slave moving pairs can be obtained. Constraint equations are obtained by the properties of direction-cosine matrix, then eight groups of forward solution can be determined by Maple-aided solution. Unique forward solution is found to exist by the real sphere-hinge constraint, and the method for determining the unique forward solution is given.

关 键 词：方向余弦阵法 正反解 正交六自由度并联机构 

分 类 号：TH112[机械工程—机械设计及理论] TP242[自动化与计算机技术—检测技术与自动化装置]