6-5平台型并联机构的位置正解*

北京邮电大学学报 ›› 1998, Vol. 21 ›› Issue (2): 33-42.

6-5平台型并联机构的位置正解^*

韩林,文福安,梁崇高

北京邮电大学机械电子工程系, 北京 100876

收稿日期:1997-02-20 出版日期:1998-03-10
基金资助:
国家攀登计划和国家自然科学基金资助项目

Forward Displacement Analysis of the 6-5 Stewart Platform

Han Lin, Wen Fuan, Liang Chonggao

Department of Mechanical and Electronic Engineering,
Beijing University of Posts and Telecommunications, Beijing 100876

Received:1997-02-20 Online:1998-03-10
Supported by:

摘要/Abstract

摘要： 研究了6-5平台型空间机构位置正解问题.导出了20次输出输入方程, 并由此得到动平台的40个不同位姿.经数值验证所得结果正确.

关键词: 空间机构, 位置正解, 并联机构

Abstract: A closed-form solution to the forward displacement analysis of 6-5 Stewart platform mechanism is presented. The problem is reducedto a 20th degree polynomial equation in a single unknown, from which 40 different locations of the platform can be derived. Numerical example confirms these theoretical results.

Key words: spatial mechanisms, forward displacement analysis, parallel mechanism

中图分类号:

TH112

韩林,文福安,梁崇高. 6-5平台型并联机构的位置正解^*[J]. 北京邮电大学学报, 1998, 21(2): 33-42.

Han Lin, Wen Fuan, Liang Chonggao. Forward Displacement Analysis of the 6-5 Stewart Platform[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 1998, 21(2): 33-42.

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