韩方元,赵丁选,李天宇.3—RPS并联机构正解快速数值算法[J].农业机械学报,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.
摘要点击次数: 3270
全文下载次数: 1971
3—RPS并联机构正解快速数值算法   [下载全文]
A Fast Forward Algorithm for 3—RPS Parallel Mechanism   [Download Pdf][in English]
  
DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  并联机构  运动学正解  算法  数值解法
基金项目:国家自然科学基金资助项目(50475011);吉林省科技发展计划重点资助项目(20080506、20090335)
作者单位
韩方元 吉林大学 
赵丁选 吉林大学 
李天宇 吉林大学 
中文摘要: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。
Han Fangyuan  Zhao Dingxuan  Li Tianyu
Jilin University;Jilin University;Jilin University
Key Words:Parallel mechanism  Forward kinematics  Algorithm  Numerical method
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. 

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

   下载PDF阅读器