3-PRS并联机构正解的数值方法  

Forward kinematics of 3-PRS mechanism based on numerical method

作　　者：康件丽[1] 陈国强[1] 赵俊伟[1] 

机构地区：[1]河南理工大学,焦作454003

出　　处：《现代制造工程》2015年第2期36-42,共7页Modern Manufacturing Engineering

基　　金：河南省科技攻关项目(132102210430);河南省高校新世纪优秀人才支持计划项目(2006HANCET-16);河南理工大学博士基金项目(648495);河南省仪器科学与技术省级重点学科项目

摘　　要：正解计算是3-PRS并联机构设计与评价的重要工作之一,由于求解3-PRS并联机构的解析表达式十分困难,所以通常求其数值解。针对正解迭代求解时可能由于初始值设置不当引起的求解失败或遗漏真实解的问题,提出了运用蒙特卡洛方法设置迭代初始值。通过大量的随机抽样得到所有可能的解,并且归并这些解,然后绘制3-PRS并联机构的位姿简图,以此来直观判断解的合理性,最后应用算例验证了该方法的有效性及可行性。结果表明:充分利用蒙特卡洛方法的随机性,可以找到所有的解;绘制的3-PRS并联机构位姿简图形象直观,方便对真实解进行判别。The forward kinematics computation is one of the key tasks in design and assessment of 3-PRS mechanism, but to get its analytical expression is very difficult, so the numerical solution is always computed. Aiming at the problems of iteration failure and actual solution omission resulting from improper initial guesses, proposes to set initial guesses using Monte Carlo method. All possible solutions can be gotten through lots of random sampling and grouped. The position and orientation schematic illustration of 3-PRS mechanism is plotted,which facilitates intuitively finding the actual solution. The effectiveness and feasibility are veri- fied through four computing examples finally. The result shows that the randomness of Monte Carlo method is made full use of, all possible solutions can be found, and the position and orientation schematic illustration of 3-PRS mechanism is intuitive, visualiz- able and easy to be used to find the actual solution.

关 键 词：3-PRS并联机构 正解 蒙特卡洛方法 位姿 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]