The Effect of the Optimization Selection of Position Analysis Route on the Forward Position Solutions of Parallel Mechanisms

被引：1
|
作者：
Shen, Huiping [1 ]
Xu, Qing [1 ]
Li, Ju [1 ]
Yang, Ting-li [1 ]
机构：
[1] Changzhou Univ, Sch Mech Engn, Changzhou 213164, Jiangsu, Peoples R China
来源：
ROBOTICS | 2020年 / 9卷 / 04期
关键词：
parallel mechanism; forward kinematics; coupling degree; KINEMATICS;
D O I：
10.3390/robotics9040093
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
The forward position solution (FPS) of any complex parallel mechanism (PM) can be solved through solving in sequence all of the independent loops contained in the PM. Therefore, when solving the positions of a PM, all independent loops, especially the first loop, must be correctly selected. The optimization selection criterion of the position analysis route (PAR) proposed for the FPS is presented in this paper, which can not only make kinematics modeling and solving efficient but also make it easy to get its symbolic position solutions. Two three-translation PMs are used as the examples to illustrate the optimization selection of their PARs and obtain their symbolic position solutions.
引用
收藏
页码：1 / 13
页数：13
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