【摘要】 从并联机器人的约束方程出发,通过引入中间变量和数学处理,得到以动平台姿态角为未知数的3维方程,结合方向余弦矩阵的特点,降低了方程的非线性程度。在最后的实例中,介绍了同伦算法的思想,采用Li-yorke提出的预估校正法跟踪同伦曲线,求得并联机器人正解方程的一批零点。更多还原

【Abstract】 Based on the foundation constrain equation on parallel manipulator,by mid-variable and math disposal,three dimensions equation with mobile platform orientation angle as the unknown number is obtained.Connectting the characteristic of the orientation cosine matrix,it reduces the unlinear extent of the equation.In the last example,the theory of Homology method is introduced,the Homology curve line is tracked by the predict correction method which is raised by Li-yorke,and a batch of zero point of parallel manipulator forward displacement solution is obtained.更多还原