Efficient hybrid method for forward kinematics analysis of parallel robots based on signal decomposition and reconstruction:

摘要

This article combines a new method based on signal decomposition and reconstruction with a fifth-order numerical algorithm and proposes an efficient hybrid method for solving forward kinematics problem of parallel manipulators. In this hybrid method, new method can first generate an approximate solution of the forward kinematics problem, which will be taken as initial guess for the fifth-order numerical technique. The answer with desired level of accuracy is then obtained. The superposition principle is proposed stating that each rod’s displacement required to drive the mobile platform with 6-degree-of-freedom coupled motion is approximately a sum of the rod’s displacement required to drive it with each of six single basic motions including roll q1, pitch q2, yaw q3, surge q4, sway q5, and heave q6. By solving the equations established in accordance with the superposition principle, the approximate solution is also gained. Superposition principle is more applicable to the robots with small rotational work...