关键词: 广义Stewart 平台, 角度约束, 运动学正解

Abstract:

A new parallel mechanism 2CCC-4SPS that has distance and angle constraints was described in this paper. The analysis of degree of freedom and forward kinematics were given. Sylvester’s resultant and Groebner basis theory were used and the problem of forward kinematics analysis was reduced to a 32nd degree polynomial equation in a single unknown, from which 32 different locations of the platform can be derived, numerical example confirms these theoretical results.

Key words: general Stewart platform, angle constraint, forward kinematic resolution