摘要
对于大多数并联机构,位置正解都是一个难题。利用Matlab软件卓越的数学计算功能,容易地求出3-PRS串并联机构的位置逆解。在此基础上建立输入参数与输出位姿参数之间对应的Access数据库,进而通过所设计的输入与输出参数间的辨识数学模型,求出机构动平台的位姿即位置正解。此方法具有通用性,适用于所有的串并联机构。
It is very diflicuh to seek forward solution for most parallel mechanisms. With the super calculation function of Matlab, it is easy to obtain the inverse solution of 3-PRS serial-parallel mechanism. Based on that,the Access database between the output parameter and the relative input parameter is established. In the base of the Access database, with the identification model, the position and pose of the movement platform, in other word, the forward solution, can be easily obtained. The method is general, which can be suited to all the parallel mechanisms.
出处
《现代制造工程》
CSCD
2007年第11期106-109,共4页
Modern Manufacturing Engineering
关键词
串并联机构
正向解
辨识模型
ACCESS数据库
Serial-parallel mechanism
Forward solution
Identification model
Access database
