基于区间对分搜索法的并联机构位置正解问题求解  

Numerical Solution of Direct Kinematic Problems for Parallel Manipulators Based on Interval Dividing Search Algorithms

作　　者：沈辉[1] 吴学忠[1] 

机构地区：[1]国防科技大学机电工程与自动化学院,长沙410073

出　　处：《机械科学与技术》2004年第2期185-188,共4页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金-香港青年学者合作研究基金(5 0 0 2 95 0 1)资助

摘　　要：针对并联机构的位置正解问题 ,提出一种基于区间对分搜索法的数值迭代计算方法。该算法通过对并联机构约束方程解空间的不断细分 ,得到非线性约束方程所有解的收敛域空间 ,然后通过Newton迭代方法计算问题的所有近似解。与一般点迭代方法相比 ,该算法的收敛性不依赖于初始条件的选取 ,并且能够一次得到问题的所有近似解。文中对 6自由度Stewart平台进行了仿真计算。In this paper, we present a numerical analysis method based on interval dividing algorithms for the forward kinematics problem of parallel manipulators. First, we obtain convergence regions of all solutions by subdividing the solution space of the nonlinear constraint equation. Then, we utilize the Newton recursion algorithm to compute all solutions of the forward kinematics problem. Compared with the point recursion method, the algorithm proposed is independent of initial conditions of recursion process, and can obtain all the solutions of direct kinematic problems of parallel manipulator. The test results of a six-DOF Stewart platform validate the effectiveness of the algorithmproposed.

关 键 词：并联机构 前向运动学 区间算法 

分 类 号：O241.7[理学—计算数学]