6-SPS型并联六坐标测量机位置分析与研究  

Location Analysis and Research of CMM with Six-freedom-degree Parallel Mechanism

作　　者：姬清华[1,2] 刘延斌[2] 

机构地区：[1]新乡学院机电工程学院,河南新乡453003 [2]河南科技大学机电工程学院,河南洛阳471003

出　　处：《新乡学院学报》2009年第2期72-73,86,共3页Journal of Xinxiang University

基　　金：河南省教育厅自然科学计划项目(2006460004)

摘　　要：根据6-SPS并联机构特点,合理地定义了支杆和动平台的方位及位置坐标,研究了6-SPS型并联六坐标测量机运动学正反向求解方法,提出了一种正向数值求解的方法以及正解迭代格式。In accordance with the characteristics of 6-SPS parallel mechanism,orientation and position coordinates for six legs and end plate of the parallel mechanisms were defined, direct kinematics solution method of 6-SPS parallel manipulator was researched. A new direct kinematics solution method and an iteration format was put forward.

关 键 词：并联机构 并联六坐标测量机 运动学正解 

分 类 号：TH112[机械工程—机械设计及理论]