6-6SPS6自由度Stewart并行机构位姿正解单解存在条件

吕崇耀. 6-6SPS6自由度Stewart并行机构位姿正解单解存在条件[J]. 机器人, 2000, 22(2): 148-153.

引用本文:

吕崇耀. 6-6SPS6自由度Stewart并行机构位姿正解单解存在条件[J]. 机器人, 2000, 22(2): 148-153.

LU Chong-yao. EXACT CLOSED-FORM FORWARD KINEMATICS OF 6-6 6DOF STEWART IN PARALLEL MECHANISMS[J]. ROBOT, 2000, 22(2): 148-153.

Citation:

LU Chong-yao. EXACT CLOSED-FORM FORWARD KINEMATICS OF 6-6 6DOF STEWART IN PARALLEL MECHANISMS[J]. ROBOT, 2000, 22(2): 148-153.

EXACT CLOSED-FORM FORWARD KINEMATICS OF 6-6 6DOF STEWART IN PARALLEL MECHANISMS

摘要: 在获得了6-66自由度Stewart并行机构位姿正解的基础上，进一步提出了6-66自由度Stewart并行机构位姿正解单解存在的条件．数字模拟结果显示了该条件的适用性．

Abstract: Based on the closed form forward kinematics of the 6 6 6 DOF Stewart parallel mechanisms, the conditions for the exact closed form forward kinematics of the 6 6 Stewart parallel mechanisms were studied of. Necessary simulation was carried out to verify the suitability of the conditions.

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