• CN：11-2187/TH
• ISSN：0577-6686

›› 2007, Vol. 43 ›› Issue (12): 171-177.

• 论文 •

6自由度3-UrRS并联机构的位置正解分析

1. 河北大学电子信息工程学院;上海交通大学机械与动力工程学院
• 发布日期:2007-12-15

FORWARD POSITION ANALYSIS OF 6-DOF 3-UrRS PARALLEL MECHANISM

GAO Zheng;GAO Feng

1. College of Electronic and Information Engineering, Hebei University School of Mechanical Engineering, Shanghai Jiaotong University
• Published:2007-12-15

Abstract: Position analysis of mechanism is to find the straightforward relations between the input and output component, which is elemental task for kinematics analysis and also the basic study of speed, acceleration, stress analysis, error analysis, workspace analysis, dynamic analysis and mechanism synthesis. In practice, solving the forward kinematics means to determine the current, real pose of the end-effectors of the mechanism. According to the reasons above, a new 6-DOF parallel mechanism with 3 limbs is presented. It uses 2-DOF spherical five-bar mechanism as the compound drive device. The length between the three vertexes of the platform is regarded as the restrict condition to obtain the constrained equations and thus the closed-form solution of the forward position problem of the parallel mechanism is studied. The resultant equation is a 16th polynomial. The inverse kinematics’ closed-form solution can be obtained by solving the equations established by the mechanism’s structure feature. At last, a numerical verification is put up to the results of the forward and inverse solutions. The forward solution is very coincident with the inverse solution but only minute error, which is caused by the accumulated com-puting error.