6-SPS并联机构运动学正解的一种解析化方法  

An Analytical Method for the Forward Kinematics Analysis of 6-SPS Parallel Mechanisms

作　　者：程世利[1] 吴洪涛[1] 姚裕[1] 刘芳华[2] 缪群华[1] 李成刚[1] 朱剑英[1] 

机构地区：[1]南京航空航天大学机电学院,南京210016 [2]江苏科技大学机械工程学院,镇江212003

出　　处：《机械工程学报》2010年第9期26-31,共6页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50375071);航空科学基金(H0608-012);江苏省普通高校研究生科研创新计划(CX07B_068z)资助项目

摘　　要：空间7R机构是对串联形式的工业机器人机构的抽象,其位移分析曾被称为机构运动分析中的珠穆朗玛峰问题,这个问题的最终解决是由中国学者完成的。6-SPS并联机构与串联形式的工业机器人机构存在着对偶关系,它的位移分析同样是一个难点问题,在过去的十几年中没有取得实质性的进展。基于此,提出一种表示旋转矩阵的新方法,通过分析动平台位置与姿态变量之间的耦合关系,得出了11个相容方程。在此基础上,采用逐步消去高次项的方法,最终可以将6-SPS并联机构的运动学正解问题表示为一元17次代数方程,这可能是当前这类问题的最好结果。The displacement analysis of the general spatial 7R mechanism, which is an abstraction from the serial industrial robots, is regarded as one of the most difficult tasks in the kinematics analysis of spatial mechanisms. This problem is finally solved by Chinese scholars. There is dual relation between serial robots and parallel robots. The displacement analysis of 6-SPS parallel mechanisms is also a very difficult problem without substaintial progress made in the past ten years. A new method is presented to describe the rotation matrix. Through analyzing the coupling relationships between the moving platform position and attitude variables, eleven compatible algebraic equations used to solve this problem are obtained. Based on this, through eliminating the higher terms step by step, the problem of the forward kinematics analysis of 6-SPS parallel mechanisms can be finally expressed as a seventeen order algebraic equation, and maybe it is the best result of this kind of problem.

关 键 词：并联机构 运动正解 解析法 

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]