光学精密工程2025，Vol.33Issue(13)：2076-2088,13.DOI:10.37188/OPE.20253313.2076
共轴球面并联跟踪机构运动学建模与应用
Kinematic modeling and application of coaxial spherical parallel tracking mechanism
摘要
Abstract
To address the requirements of dynamic tracking tasks demanding extensive motion range,high stiffness,and rapid response,this study examines a coaxial 3-RRR spherical parallel mechanism for optical dynamic tracking applications.Initially,the mechanism's forward and inverse kinematics are analyzed us-ing a geometric vector method.Vector projection is employed to identify the unique inverse kinematic solu-tion corresponding to the actual configuration from eight analytical candidates.Subsequently,a singular forward kinematic solution is determined from up to eight closed-form solutions by applying the proposed inverse kinematics algorithm.Furthermore,integrating the forward and inverse kinematic algorithms with a motion singularity index and a collision avoidance strategy,the reachable Cartesian and configuration spaces are systematically characterized under singularity-free and collision-free conditions.A unit quaterni-on-based spherical interpolation method is introduced to guarantee smooth orientation transitions of the moving platform within the workspace.Both computational and experimental results demonstrate that the analytical forward kinematics solution enhances computation speed by 94％compared to conventional con-straint-based iterative methods,while reducing numerical error to the order of 10-14 and obviating the need for initial value estimates.Workspace analysis reveals that the mechanism achieves a pitch range from 48.42° to 138.42° and a full azimuthal range of-180° to 180°,maintaining the rolling degree of freedom about the pointing axis within this domain.Theoretical and experimental findings confirm that the pro-posed coaxial spherical parallel tracking mechanism exhibits superior motion performance,fully meeting the demands of optical dynamic tracking applications.关键词
并联机构/动态跟踪/正逆运动学/工作空间/轨迹规划/共轴球面Key words
parallel mechanism/dynamic tracking/forward and inverse kinematics/workspace/trajec-tory planning/coaxial spherical分类
信息技术与安全科学引用本文复制引用
赵卫,冯昂昂,周宇飞,盛展翊,朱明超,邓永停..共轴球面并联跟踪机构运动学建模与应用[J].光学精密工程,2025,33(13):2076-2088,13.基金项目
国家自然科学基金资助项目(No.62173047) （No.62173047）
