四川大学学报：工程科学版2012，Vol.44Issue(2)：221-226,6.
空间3自由度冗余驱动并联机构的运动学分析
Kinematics Analysis of Spatial 3-DOF Parallel Manipulator with Redundant Actuator
摘要
Abstract
The parallel manipulators with n6 spherical joint-prismatic joint-spherical joint（SPS） type active limbs and one passive constrained limb have attracted more attention and been used in many practical applications.The 4-SPS /S parallel manipulator was proposed and used to simulate ship swaying motion in the sea.Real mobility property of the 4-SPS /S parallel manipulator was analyzed by using screw theory.The inverse position kinematics model and the differential motion characteristics of the SPS active limbs and moving platform were established by coordinating rotation matrix transformation and vector derivative.The analytical solution of forward position kinematics was established by rod length constraint equations and Sylvester resultant elimination.The result of simulation and analysis showed that the parallel manipulator has four forward position solutions including two real solutions and two imaginary solutions,and the algorithm of forward position solution is correct.关键词
并联机构/位置逆解/微分运动特性/位置正解Key words
parallel manipulator/inverse position kinematics/differential motion characteristics/forward position kinematics分类
机械制造引用本文复制引用
周结华,彭侠夫,仲训昱..空间3自由度冗余驱动并联机构的运动学分析[J].四川大学学报：工程科学版,2012,44(2):221-226,6.基金项目
国家“985”计划资助项目 （）
福建省自然科学基金资助项目 （）
