【摘要】 在获得了 6- 6 6自由度 Stewart并行机构位姿正解的基础上 ,进一步提出了 6- 6 6自由度 Stewart并行机构位姿正解单解存在的条件 .数字模拟结果显示了该条件的适用性更多还原

【Abstract】 Based on the closed form forward kinematics of the 6 6 6 DOF Stewart parallel mechanisms, the conditions for the exact closed form forward kinematics of the 6 6 Stewart parallel mechanisms were studied of. Necessary simulation was carried out to verify the suitability of the conditions.更多还原