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6-3Stewart平台位置正解的机构简化数值方法

DOI: 10.13700/j.bh.1001-5965.2013.0492, PP. 921-926

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Abstract:

针对提高Stewart平台运动学位置正解速度的问题,分析了传统基于速度雅可比的数值迭代方法,并对6-3Stewart平台结构提出了一种基于机构简化的位置正解数值方法.将6-3Stewart平台等效为虚拟3-RPS并联机构,通过牛顿-拉夫逊方法对其进行位置正解,并将结果解算为实际机构上平台位姿.设计了一套液压6-3Stewart平台实验系统,并通过实验证明,与传统方法相比,该方法能减少近50%的迭代次数和约85%的解算时间.该方法概念清晰,机构等效计算简单,对3-RPS并联机构的位置正解计算量明显减少,在目前主流工控机处理器上可满足控制周期0.1ms实时控制的位置解算需求.

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