Kinematics Analysis of 6-PUS Parallel Mechanism

Abstract

Abstract:

Kinematics analysis of a 6-PUS parallel mechanism was done herein, and we focused on the forward kinematics solving method. Decoupling the position and orientation variables of the moving platform, the position variables would be expressed with the orientation variables. Three equations about orientation variables were obtained through Cayley formula and the relationship among position variables. Solving these equations, the orientation variables can be obtained. A specific example was introduced to verify the method offered herein.

Key words: 6-PUS parallel mechanism, forward kinematics, decoupling, constraint equation

摘要：

对6-PUS并联机构的运动学问题进行了分析,着重研究其运动学正解的求解方法。对动平台的位姿变量进行解耦处理,将位置变量表达为姿态变量的函数形式;利用Cayley公式、位置向量的转换关系得到了3个关于姿态变量的约束方程;求解约束方程组得到姿态变量,进而求得位置变量。算例验证了方法的正确性和有效性。

关键词: 6-PUS并联机构, 运动学正解, 解耦, 约束方程

CLC Number:

TH112
TP242

WANG Chao-Qun-1, 2, TUN Hong-Chao-1. Kinematics Analysis of 6-PUS Parallel Mechanism[J]. China Mechanical Engineering, 2013, 24(07): 853-856.

王超群1, 2, 吴洪涛1. 6-PUS并联机构的运动学正解分析[J]. 中国机械工程, 2013, 24(07): 853-856.

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