6-PUS并联机构的运动学正解分析  

Kinematics Analysis of 6-PUS Parallel Mechanism

作　　者：王超群[1,2] 吴洪涛[1] 

机构地区：[1]南京航空航天大学,南京210016 [2]南京农业大学,南京210031

出　　处：《中国机械工程》2013年第7期853-856,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(51175263)

摘　　要：对6-PUS并联机构的运动学问题进行了分析,着重研究其运动学正解的求解方法。对动平台的位姿变量进行解耦处理,将位置变量表达为姿态变量的函数形式;利用Cayley公式、位置向量的转换关系得到了3个关于姿态变量的约束方程;求解约束方程组得到姿态变量,进而求得位置变量。算例验证了方法的正确性和有效性。Kinematics analysis of a 6--PUS parallel mechanism was done herein, and we focused on the forward kinematics solving method_ Deeoupling the position and orientation variables of the moving platform, the position variables would be expressed with the orientation variables. Three e- quations about orientation variables were obtained through Cayley formula and the relationship among position variables. Solving these equations, the orientation variables can be obtained. A specific ex- ample was introduced to verify the method offered herein.

关 键 词：6-PUS并联机构 运动学正解 解耦 约束方程 

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]