正交三自由度球面并联机构的位置正反解新方法  

A New Method of the Forward and Inverse Position Analysis of the Orthogonal 3-DOF Spherical Parallel Mechanism

作　　者：杨加伦[1] 高峰[1] 戚开诚[2] 史立峰[1] 

机构地区：[1]上海交通大学机械系统与振动国家重点实验室,上海200240 [2]北京航空航天大学机械工程与自动化学院

出　　处：《机械设计与研究》2008年第3期30-32,42,共4页Machine Design And Research

基　　金：国家973项目(2006CB705402);自然科学基金重点项目(60534020);航空科学基金项目(20060157001)资助

摘　　要：提出了基于旋量理论计算正交三自由度球面机构位置正、反解的方法。在得到机器人雅可比矩阵的基础上,通过牛顿迭代法得出三个被动角的数值。利用指数积公式直观地得到了该机构的位置正解。通过与位置反解的比较验证了该方法的正确性。The method for analyzing the forward and inverse position of the orthogonal 3-DOF parallel mechanism is proposed. Based on the Jacobian matrix of this mechanism, the value of three passive joint angles are got by making use of the Jacobian matrix of the me chanism, and the Newton method is, utilized during the computation process. The forward position analysis was achieved thanks to the use of the product of the exponentials formula. Finally, it is proved that the results got according to this method are correct after the comparison between the data of forward position and inverse position.

关 键 词：正交三自由度球面机构 位置正反解 指数积 牛顿法 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]