【摘要】 根据纯转动型 3 UPU并联机构的几何特点 ,使用四元数变换方法 ,构造了一类单正交条件下的 3 UPU并联机构位置正解分析的参数化方程 ,可使用三角恒等变换来求解该方程 ;并使用单位四元数变换求出其双正交条件下的 8个封闭的位置正解 ,该正解为 4组共轭解更多还原

【Abstract】 UPU parallel mechanism has an elegant structure compared with the Stewart mechanism. Under specific conditions, spherical rotation will be only done. The forward position analysis was simplified to search solutions of its platform orientation about the base. According to its specific geometry, a parameterized equation of forward position analysis was constructed under single orthogonal geometry by using unit quaternion transformation. Based on unit quaternion transformation, 8 closed form solutions of forward position were presented, which are 4 conjugate pairs.更多还原