一类3-3 Stewart平台的正向运动学闭式解  

Closed-Form Direct Kinematics Solution for a Class of 3-3 RSR Stewart Platform Manipulators

作　　者：周冰[1] 方浩[1] 冯祖仁[1] 

机构地区：[1]西安交通大学系统工程研究所,西安710049

出　　处：《机械科学与技术》2001年第2期194-195,共2页Mechanical Science and Technology for Aerospace Engineering

摘　　要：针对 Stewart平台机器人的结构特点 ,提出一种新的姿态描述 ,这种描述直观、简便 ;并对一类 3- 3RSR并行机器人进行几何分析 ,给出一种新的解法 ;应用 Mathe-m atica软件编程进行符号运算得到该类平台的闭式解 ,闭式解便于实现实时控制。同时用算例进行校验 ,结果表明计算速度快 ,为实时控制和实际应用创造了条件。This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators which is convenient and intuitionistic to us. A class of 3-RSR parallel manipulator is considered here. Through analysis on geometry, we obtain a new method of the closed-form solution to the forward kinematics via Mathematica. The closed-form solution contains two different meanings - analytical and real-time. A numerical example is also presented and the results are verified by an inverse kinematics analysis. It shows that the method has a practical value for real-time control.

关 键 词：并行机器人 姿态描述 位置正解 闭式解 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]