求解并联机器人位置正解的通用方法  

General method for solving the forward solution of parallel robot positions

作　　者：高秀兰[1] 

机构地区：[1]宝鸡文理学院机电工程系

出　　处：《机械设计》2009年第9期8-10,共3页Journal of Machine Design

基　　金：陕西省教育厅专项科研计划资助项目(09JK327);陕西省自然科学研究计划资助项目(2007A17)

摘　　要：提出一种并联机构位置正解的通用方法。用赛登贝格(Seidenberg)算法首先对多项式方程组进行变元排序,借助多项式的伪除进行消元,同时多项式组不断分裂构成三角列,它们与原方程组具有相同的零点,不会出现增根。以6-SPS平台型并联机器人机构位置正解为例验证该算法的正确性,求得了机构全部位置解。计算过程采用了机械化程序,具有通用性。A kind of general method on forward solution of parallel mechanism positions was put forward. The Seidenberg algorithm was firstly adopted for carrying out variables ordering of the polynomial equation set. Elimination was carried out by the aid of pseudo division of polynomial and at the same time the polynomial would split unceasingly to make up the triangular permutations and they have identical zero point with that of the original equation set and would not appearing extraneous roots. Taking the forward solution of positions of 6-SPS platform typed parallel robotic mechanism as an example, the correctness of this algorithm was verified and all the positional solutions of the mechanism were obtained. The course of calculation adopted the mechanized procedure and possesses universal property.

关 键 词：并联机构 位置正解 赛登贝格算法 零点分解 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]