【摘要】 用代数法研究了６－６六自由度Ｓｔｅｗａｒｔ并联机构封闭运动学位姿正解单解．在添加了一个附加位移传感器的基础上，解得了上平台六铰接点中三个铰接点在惯性坐标系中的矢量分量，并将其直接转化为六个自由度，从而获得了６－６六自由度Ｓｔｅｗａｒｔ并联机构封闭运动学位姿正解单解及其存在的条件．更多还原

【Abstract】 A closed form solution for forward kinematics of a 6 6 6DOF Stewart in parallel mechanisms was studied algebraically. Three vertexes among the six in the inertial frame were obtained with the additional sensor, and the platform pose was recovered directly. An exact solution of the closed form forward kinematics and the conditions under which the exact solution of the closed form forward kinematics existed were obtained theoretically.更多还原