摘要
根据机构运动的同一性原理 ,给出一种求解 6 - 3构型并联机构位置正解的杆长逼近算法。该算法的主要特点是通过逐步自动修正迭代初值、缩小搜索区间和步长、提高逼近精度 ,将二维搜索的杆长逼近简化为一维搜索的杆长逼近。因此只要在分支的有效活动区域内任选初值 ,即可保证其收敛性并且不受机构奇异位形的影响 ,大大简化了搜索逼近过程并提高了迭代效率。文中给出了求解过程和逼近步骤及求解实例 ,其逼近精度达 10 - 5。
The paper presents a new scheme for forward position analysis of 6 3 structure in parallel manipulator, which is based on the fact that locations of three moving globular joints should be always forming triangle of the moving platform. The successive approximation method is used to find the joint positions of globular joints to feet the distances of three sides of moving platform. In general numerical schemes, which determine a solution from a set of nonlinear simultaneous equations, the convergence rate varies with different joint inputs. The convergence of this method depends chiefly on approximation accuracy rather than on the joint inputs, because joint inputs, search region and step are self modified successively in the process. There is also no influence on the neighborhood of singularity for the solution. Computation results show that the approximation accuracy reaches 10 -5 .
出处
《机械科学与技术》
CSCD
北大核心
2002年第1期81-82,85,共3页
Mechanical Science and Technology for Aerospace Engineering
基金
辽宁省自然科学基金 (9910 40 0 2 0 4)
关键词
并联机构
位置正解
杆长逼近
自修正
机器人
Parallel manipulator
Forward position
Approximation
Self modified
