农业机械学报2009，Vol.40Issue(11)：212-218,7.
6-CPS正交并联机器入位置正解分析
Forward Positional Analysis of 6-CPS Orthogonal Parallel Manipulators
摘要
Abstract
A 6-DOF 6-CPS orthogonal parallel manipulator was presented, based on the theory of the structure synthesis for parallel robot mechanisms. The forward kinematics of the manipulator was studied to analyze the positive positional solutions. With the restrict condition of the lengths of six actuated limbs, the constrained equations were established, and the nonlinear equations (NLEs) were obtained to solve forward positional problems of the mechanism. Based on the Chen-Lai algorithm, by means of which chaos was generated or modified, a discrete-time dynamical system was feedback controlled to be transferred to a chaotic system that has the expected Lyapunov exponent and good ergodicity. The chaotification-based Newton iterative algorithm (CBNIA) was utilized to solve NLEs for forward displacement analysis of 6-CPS orthogonal parallel manipulators. The results of numerical verification show that through the CBNIA, all forward solutions can be quickly found that are very coincident with the inverse ones.关键词
并联机器人/位置正解分析/反馈混沌化/Newton迭代法Key words
Parallel manipulator/ Positive positional analysis/ Chaotification/ Newton iterativemethod分类
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车林仙..6-CPS正交并联机器入位置正解分析[J].农业机械学报,2009,40(11):212-218,7.基金项目
四川省应用基础研究计划资助项目(2008JY0163)和泸州市重点科技计划资助项目(2008-S1-17) （2008JY0163）
