【摘要】 提出了一种研究6-3 Stewart并联机构运动学正解问题的新方法。通过分析动平台位姿变量之间的耦合关系,增加了一些有用的信息,得到了用于解决这一问题的11个相容方程。使用正交补方法进行消元,最终可以将6-3 Stewart并联机构运动学正解问题表达成一个一元八次方程。最后通过一个实例验证了该方法的正确性。更多还原

【Abstract】 This paper presented a new analytical method to study the forward kinematics analysis of 6-3 Stewart parallel mechanisms.Analyzing the coupling relationships among the position and orientation variables of the moving platform,additional useful information was obtained,thus eleven compatible algebra equations used to solve this problem were obtained.The orthogonal complement method was used to eliminate the redundant variables,the forward kinematics of 6-3 Stewart parallel mechanisms can be expressed as an eight order equation in the end.Finally a specific example was introduced to verify the method offered herein.更多还原