一类3-3 Stewart平台的正向运动学闭式解

摘要

针对Stewart平台机器人的结构特点 ，提出一种新的姿态描述，这种描述直观、简便；并对一类3-3 RSR并行机器人进行几何分 析，给出一种新的解法；应用Mathematica软件编程进行符号运算得到该类平台的闭式解， 闭式解便于实现实时控制。同时用算例进行校验，结果表明计算速度快，为实时控制和实际 应用创造了条件。%This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators which is convenient and intuitionistic to us. A class of 3-RSR parallel manipulator is considered here. Through analysis on geometry, we obtain a new method of the closed-form solution to the forward kinematics via Mathematica. The closed-form solution contains two different meanings——analytical and real-time. A numerical example is also presented and the results are verified by an inverse kinematics analysis. It shows that the method has a practical value for real-time control.