基于单个角度传感器的6-UPS并联机构位置正解解析算法  

An Analytical Algorithm for Forward Position Solution of 6-UPS Parallel Mechanism Based on Single Angle Sensor

作　　者：张贺 李开明[1] 陈语 周文全 ZHANG He;LI Kai-ming;CHEN Yu;ZHOU Wen-quan(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《组合机床与自动化加工技术》2021年第5期53-56,共4页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：针对6-UPS并联机构的位置正解求解过程复杂且结果不唯一的问题,提出一种基于角度传感器的6-UPS并联机构运动学正解的解析算法。通过测出其中一个支链的指定方向旋转角度,将位置正解求解过程由以往的12个未知数减少为11个未知数。利用消元降次等方法对得到的11个相容方程运算处理,求解出满足实际情况的唯一正解,解决了奇异性局限和多解选择的难题,可用于6-UPS并联机构闭环实时反馈控制。通过数值算例验证了所提算法的正确性和高效性。Aiming at the problem that the forward position solution of 6-UPS parallel mechanism is complex and the result is not unique,an analytic algorithm of kinematics positive solution of 6-UPS parallel mechanism based on angle sensor is proposed.By measuring the rotation angle of one of the branched chains in the specified direction,the process of solving the positive position solution was reduced from 12 unknowns to 11 unknowns.By using the method of eliminating element and decreasing order to deal with the 11 compatible equations,the unique positive solution satisfying the actual situation is solved,and the singularity limitation and multi-solution selection problem are solved,which can be used loop real-time feedback control of 6-UPS parallel mechanism.One numerical examples is given to verify the correctness and efficiency of the proposed algorithm.

关 键 词：并联机构 运动学正解 角度传感器 解析算法 

分 类 号：TH112[机械工程—机械设计及理论] TG659[金属学及工艺—金属切削加工及机床]