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3—RPS并聯(lián)機(jī)構(gòu)正解快速數(shù)值算法
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國(guó)家自然科學(xué)基金資助項(xiàng)目（50475011）;吉林省科技發(fā)展計(jì)劃重點(diǎn)資助項(xiàng)目(20080506、20090335)


A Fast Forward Algorithm for 3—RPS Parallel Mechanism
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    摘要:

    提出了一種求解3—RPS并聯(lián)機(jī)構(gòu)正解的快速數(shù)值解法,。利用3—RPS型并聯(lián)機(jī)構(gòu)的結(jié)構(gòu)特征，首先計(jì)算出一組位姿坐標(biāo)作為迭代初值，然后通過逆解求出上平臺(tái)各個(gè)鉸支點(diǎn)的坐標(biāo)，并對(duì)其進(jìn)行修正，得到一組新的位姿坐標(biāo)。如此反復(fù)迭代，最終得到精確解,。新算法物理模型清晰，計(jì)算公式簡(jiǎn)單,。由于不需要計(jì)算雅可比矩陣及其逆陣,，所以計(jì)算工作量較小。在相同的計(jì)算環(huán)境下,，達(dá)到相同的精度,，新算法計(jì)算速度是現(xiàn)有算法的1.5倍，因而適于實(shí)時(shí)控制,。

    Abstract:

    This paper presented a fast forward algorithm for 3—RPS (revolute-prismatic-spherical) parallel mechanism. Based on the structure feature of 3—RPS parallel mechanism, firstly, a group of position and orientation coordinates were calculated as the initial value, then the coordinates of each hinge fulcrum on the platform by means of reverse algorithm were obtained and adjusted. No derivative operation or Jacobi matrix inverse operation was needed in proposed algorithm. It effectively reduced the computational load, and the formula was simple. In the same computing environment, the calculation experiment results showed that the amount of programming of the proposed algorithm was only 40% of the existing algorithms, the calculation speed of the proposed algorithm was about 1.5 times of the existing algorithms to achieve the same accuracy. It can be applied to online control. 

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韓方元,趙丁選,李天宇.3—RPS并聯(lián)機(jī)構(gòu)正解快速數(shù)值算法[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2011,42(4):229-233. Han Fangyuan, Zhao Dingxuan, Li Tianyu. A Fast Forward Algorithm for 3—RPS Parallel Mechanism[J]. Transactions of the Chinese Society for Agricultural Machinery,2011,42(4):229-233.

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