5-5型并联机器人位置正解的简单算法  

Simple Method for Forward Displacement Analysis of a 5-5 in-parallel Robot

作　　者：石志新[1] 叶梅燕[2] 毛志伟[1] 罗玉峰[1] 杨廷力[3] 

机构地区：[1]南昌大学机电工程学院,南昌330031 [2]南昌大学理学院,南昌330031 [3]中国金陵石化公司,南京210037

出　　处：《农业机械学报》2014年第3期314-319,共6页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(51365036、51265036)

摘　　要：对一类5—5台体型并联机器人机构的结构特征进行了深入分析，提出了其位置正解分析与求解的简单方法。首先利用序单开链的思想对该机构进行拓扑特征分析和结构分解，将其运动学方程维数降至最小，然后利用一维搜索法得到全部实数解，最后将该方法应用于具体实例，结果不仅表明了该方法的有效性，而且首次给出了具有20组实数解的机构实例。A simple method for forward displacement analysis of a kind of 5 - 5 in-parallel robot is presented, after its structural characteristic has been disclosed. First of all, the parallel robot was decomposed into three single-opened chains （SOCs）. Secondly, the dimension of its kinematic equations was reduced to the minimum by considering kinematic model of the three single-opened chains. Then, all the real solutions to the kinematic equations were obtained using one-dimension searching algorithm. At last, a numerical example with 20 real solutions was given for the first time and provided to confirm the efficiency of the solution procedure.

关 键 词：空间机构学 5—5型并联机器人 位置正解 一维搜索法 

分 类 号：TH112[机械工程—机械设计及理论]