南京航空航天大学学报（英文版）2025，Vol.42Issue(z1)：131-140,10.DOI:10.16356/j.1005-1120.2025.S.011
三角平台式Stewart型并联机器人的位置正解研究
Research on Forward Position Solutions of Triangular Platform Stewart-Type Parallel Robot
摘要
Abstract
This study presents a novel analytical algorithm for solving the forward position problem of a triangular platform Stewart-type parallel robot(STPR).By introducing a virtual chain and leveraging tetrahedral geometric principles,the proposed method derives analytical solutions for the position and orientation of the moving platform.The algorithm systematically addresses the nonlinearity inherent in the kinematic equations of parallel mechanisms,providing explicit expressions for the coordinates of key moving attachment points.Furthermore,the methodology is extended to general triangular platform STPRs with non-coplanar fixed attachments.Numerical validation through virtual experiments confirms the accuracy of the solutions,demonstrating that the mechanism admits eight distinct configurations for a given set of limb lengths.The results align with established kinematic principles and offer a computationally efficient alternative to iterative analytical approaches,contributing to the advancement of precision control in parallel robotic systems.关键词
并联机器人/位置正解/四面体/解析解Key words
parallel robot/forward position solution/tetrahedron/analytical solution分类
机械制造引用本文复制引用
李飒,尤晶晶,闻王虎,黄宁宁,李成刚..三角平台式Stewart型并联机器人的位置正解研究[J].南京航空航天大学学报（英文版）,2025,42(z1):131-140,10.基金项目
This work was supported by the Open-ing Project of State Key Laboratory of Mechanical Transmis-sion for Advanced Equipment(No.SKLMT-MSKFKT-202330),the National Natural Science Foundation of China(No.52575022) （No.SKLMT-MSKFKT-202330）
and the Jiangsu Province Postgraduate Re-search&Practice Innovation Program(No.KYCX25_1403). （No.KYCX25_1403）
