【摘要】 提出了在求解六自由度Ｓｔｅｗ ａｒｔ并行机构封闭运动学位姿正解过程中，正确地利用反正切，将上平台上三铰接点坐标转化为该机构的六个自由度的方法．并给出对Ｘ型并行机构仿真的结果．更多还原

【Abstract】 Using anti tangent function, the transformation of three joint coordinates of the 6 DOF Stewart in parallel mechanisms on the platform into the 6 DOF during the formation of the closed form forward kinematics of the mechanisms, are proposed. The correctness of the proposal has been verified by the simulation results for the X type in parallel mechanisms.更多还原