【摘要】 建立了一类具有非对称式结构的6/6-SPS型Stewart并联机构位置正解的数学模型,构造了一个关于该并联机构动平台位置参数及姿态参数的多元多项式方程组。基于该方程组并采用Mathematica符号计算软件编制了基于Math-ematica语言的非对称式结构的6/6-SPS型Stewart并联机构位置正解的求解程序。研究结果表明,对于任意给定的该类并联机构的结构参数及6个驱动杆杆长,该类6/6-SPS型Stewart并联机构的位置正解在复数域内最多有28组解析解,并且其位置正解实数解的个数必定为偶数。并联机构位置正解的研究为该类并联机构的工作空间分析、轨迹规划及控制奠定了重要的理论基础。更多还原

【Abstract】 The mathematical model of the forward displacement of 6/6-SPS Stewart parallel manipulator with a kind of asymmetrical structure was established,and the multivariate polynomial equation set regarding position parameters and orientation parameters of the moving platform of this parallel mechanism was constructed.Based on this equation set and by adopting Mathematica symbolic computation software,a solution program for solving the forward displacement of asymmetrical 6/6-SPS Stewart parallel manipulator was formulated based on Mathematica language.The result that,for any geometric parameters and six given link-lengths of this kind of parallel manipulator,the maximum number of analytical solutions for the forward displacement of this kind of 6/6-SPS Stewart parallel manipulator within the complex domain is 28,and the number of the real solution for its forward displacement should be even.The forward displacement analysis of this kind of the parallel manipulators has laid an important theoretical foundation for the workspace analysis,path planning and control of this kind of parallel manipulators.更多还原