【摘要】 提出了一种新型6自由度2支链并联机构:2-S*RU;其中S*为3自由度球面机构,为复合球铰,R为转动副,U为虎克铰。采用余弦矩阵方法得出了该并联机构的位置正反解的封闭解形式,其中正解的最终方程为一元4次方的多项式。采用余弦矩阵的优点是:第一,与欧拉角不同,方向余弦矩阵不会有任何有代表性的奇异位形。第二,在计算过程中不会出现三角函数,提高了计算效率。该机构可应用于机器人手臂,结构简单紧凑,易于实现模块化。更多还原

【Abstract】 A new 6-DOF (degree of freedom) parallel mechanism with 2 limbs, namely 2-S~r RU, is presented; the S~r joint is a 3-DOF spherical mechanism, considered as a composite spherical joint, R is the revolute joint and U is the universal joint. The closed-form solutions of the forward solution is a 4~ th order polynomial. The two reasons for using the directional cosine matrix to represent the orientation are: first, unlik the Euler angles, such a matrix has no any representative singularities; second, there are no trigonometrical functions involved in the computation, Which means good computational efficiency. The new mechanism presented here can be used for robot arm; it has compact structure and can be easily modularized.更多还原