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5-5型并聯(lián)機(jī)器人位置正解的簡單算法
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國家自然科學(xué)基金資助項(xiàng)目（51365036、51265036）


Simple Method for Forward Displacement Analysis of a 5-5 in-parallel Robot
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    摘要:

    對(duì)一類5-5臺(tái)體型并聯(lián)機(jī)器人機(jī)構(gòu)的結(jié)構(gòu)特征進(jìn)行了深入分析，提出了其位置正解分析與求解的簡單方法。首先利用序單開鏈的思想對(duì)該機(jī)構(gòu)進(jìn)行拓?fù)涮卣鞣治龊徒Y(jié)構(gòu)分解，將其運(yùn)動(dòng)學(xué)方程維數(shù)降至最小，然后利用一維搜索法得到全部實(shí)數(shù)解，最后將該方法應(yīng)用于具體實(shí)例，結(jié)果不僅表明了該方法的有效性，而且首次給出了具有20組實(shí)數(shù)解的機(jī)構(gòu)實(shí)例。

    Abstract:

    A simple method for forward displacement analysis of a kind of 5-5 in-parallel robot is presented, after its structural characteristic has been disclosed. First of all, the parallel robot was decomposed into three single-opened chains (SOCs). Secondly, the dimension of its kinematic equations was reduced to the minimum by considering kinematic model of the three single-opened chains. Then, all the real solutions to the kinematic equations were obtained using one-dimension searching algorithm. At last, a numerical example with 20 real solutions was given for the first time and provided to confirm the efficiency of the solution procedure.

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石志新,葉梅燕,毛志偉,羅玉峰,楊廷力.5-5型并聯(lián)機(jī)器人位置正解的簡單算法[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2014,45(3):314-319. Shi Zhixin, Ye Meiyan, Mao Zhiwei, Luo Yufeng, Yang Tingli. Simple Method for Forward Displacement Analysis of a 5-5 in-parallel Robot[J]. Transactions of the Chinese Society for Agricultural Machinery,2014,45(3):314-319.

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  • 收稿日期:2013-03-24
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  • 在線發(fā)布日期: 2014-03-10
  • 出版日期: 2014-02-10