摘要
以 6 SPS并联机构为例 ,基于路径跟踪原理 ,提出一种求解并联机构位置正解的预估 校正法 .该方法通过求解并联机构位姿方程的微分初值问题 ,经过路径跟踪 ,可求出指定杆长动平台的正确位姿 ,并可求出从初值到待求值的中间结果 .仿真结果表明 ,该方法具有计算速度快 ,收敛范围大 。
A predictor corrector method to get the forward solution of a 6 SPS parallel manipulator was presented based on the principle of position tracking. By solving the initial value problem of the positional differential equation of the parallel manipulator, not only the position of platform can be determined when the lengths of six legs were specified, but also the transition positions between the two specified leg lengths can be determined. Effectiveness and speediness of the proposed method was demonstrated by simulation results.
出处
《北京航空航天大学学报》
EI
CAS
CSCD
北大核心
2002年第3期370-372,共3页
Journal of Beijing University of Aeronautics and Astronautics
基金
国家自然科学基金资助项目 (5 9875 0 0 4)
航空科学基金资助项目 (99H5 112 4)
关键词
位置跟踪
数值解
预估-校正法
并联机构
position tracking
numerical solutions
predictor corrector methods
parallel manipulator
