| 6支链台体型Stewart衍生构型位置正解半解析算法 |
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| 引用本文： | 叶鹏达,尤晶晶,沈惠平,吴洪涛,李成刚.6支链台体型Stewart衍生构型位置正解半解析算法[J].农业机械学报,2019,50(4):393-400. |
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| 作者姓名： | 叶鹏达 尤晶晶 沈惠平 吴洪涛 李成刚 |
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| 作者单位： | 南京林业大学,南京林业大学;江苏省精密与微细制造技术重点实验室,常州大学,江苏省精密与微细制造技术重点实验室;南京航空航天大学,江苏省精密与微细制造技术重点实验室;南京航空航天大学 |
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| 基金项目： | 国家自然科学基金项目(51405237)、江苏省精密与微细制造技术重点实验室开放基金项目和南京林业大学高学历人才基金项目(GX12014045) |
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| 摘 要： | 目前6支链Stewart并联机构位置正解无全解析解或全解析解推导困难,不利于程式化分析计算,本文设计4种6支链台体型Stewart衍生构型,并构建了一种数值法和解析法相结合的半解析算法。通过添加6条虚拟支链,4种衍生构型可重构为同一种12-6台体型拓扑构型;推导了重构构型的协调方程,并针对4种衍生构型,推导了虚拟支链长度的数值解;基于动平台上特征点之间的拓扑关系,推导了重构构型位置正解的全解析解。进一步对比分析了半解析算法与传统数值法在计算位姿正解时的精度、效率和稳定性。数值算例表明,半解析算法的精度与稳定性优于传统数值法至少2倍,但传统数值法的效率是半解析算法的7倍;同时得到了半解析算法的3点构型选取原则。
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| 关 键 词： | 并联机构 半解析算法 精度 效率 稳定性 |
| 收稿时间： | 2018/9/29 0:00:00 |
Semi-analytic Algorithm for Forward Displacement Analysis of Six Links Stewart Derivative Configurations |
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| YE Pengd,YOU Jingjing,SHEN Huiping,WU Hongtao and LI Chenggang.Semi-analytic Algorithm for Forward Displacement Analysis of Six Links Stewart Derivative Configurations[J].Transactions of the Chinese Society of Agricultural Machinery,2019,50(4):393-400. |
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| Authors: | YE Pengd YOU Jingjing SHEN Huiping WU Hongtao and LI Chenggang |
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| Institution: | Nanjing Forestry University,Nanjing Forestry University;Jiangsu Key Laboratory of Precision and Micro-manufacturing Technology,Changzhou University,Jiangsu Key Laboratory of Precision and Micro-manufacturing Technology;Nanjing University of Aeronautics and Astronautics and Jiangsu Key Laboratory of Precision and Micro-manufacturing Technology;Nanjing University of Aeronautics and Astronautics |
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| Abstract: | According to the present problems that the forward displacement analysis of most platform Stewart parallel mechanisms with six links can not be described with whole analytical solutions, and a very few of them can be described with whole analytical solutions and also with these difficulties, including calculation and programming, four kinds of platform Stewart derivative configurations with six links were designed, and a semi-analytic algorithm which combined with numerical method and analytical method was established. By adding six virtual links, the four derivative configurations can be reconstructed into the same kind of 12-6 platform topological configuration. Compatibility equations of reconstructed configuration were derived, and aimed at four kinds of derivative configurations, the numerical solution of the length of the virtual links was derived. Based on the topological relations between feature points on the moving platform, the whole analytical solution of the forward displacement analysis of the reconstructed configuration was derived. Furthermore, the accuracy, efficiency and stability of the semi-analytic algorithm and the traditional numerical method were compared and analyzed respectively. Numerical examples showed that the accuracy and stability of the semi analytic algorithm was at least two times of that of the traditional numerical method, but the efficiency of the traditional numerical method was seven times of that of the semi-analytic algorithm. Meanwhile, three selection principles of configurations were obtained, which established theoretical foundation for the engineering application of six links parallel mechanism. |
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| Keywords: | parallel mechanism semi-analytic algorithm accuracy efficiency stability |
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