提出了一种求解3-RPS并联机构正解的快速数值解法.利用3-RPS型并联机构的结构特征,首先计算出一组位姿坐标作为迭代初值,然后通过逆解求出上平台各个铰支点的坐标,并对其进行修正,得到一组新的位姿坐标.如此反复迭代,最终得到精确解.新算法物理模型清晰,计算公式简单.由于不需要计算雅可比矩阵及其逆阵,所以计算工作量较小.在相同的计算环境下,达到相同的精度,新算法计算速度是现有算法的1.5倍,因而适于实时控制.%This paper presented a fast forward algorithm for 3 - RPS ( re volute -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.
展开▼
