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.
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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.
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