Abstract:

A new parallel mechanism 6-CCS which is composed of cylinder and spherical joints was described herein.A closed-form solution to the forward displacement analysis was presented. Dixon’s resultant was used and the problem was reduced to a 64th degree polynomial equation in a single unknown, for the 8 position roots and the 64 orientation are unattached,512 different locations of the platform can be derived, numerical example confirms these theoretical results.Kinematics simulations were performed by using OpenGL in Visual C++6.0, which gives a very effective validation of this new idea and the new parallel mechanism.

Key words: general Stewart platform;cylinder;forward kinematics analysis;degree of freedom analysis;kinematics simulation

摘要：

介绍了一种由圆柱副、圆柱副和球面副构成的基于点、线间距离约束的新型解耦并联机构6-CCS，对结构和运动学正解进行了研究。通过对三个位置约束方程构造Dixon结式，去掉其中线性相关的三行三列，导出了一元64次输入输出方程，并根据位置的8个解与姿态解互相解耦的特点，总共有512个解。然后使用数值算例验证了其全部根。结合VC+[KG-*2]+6.0和OpenGL对其进行了三维建模和运动仿真，验证了这一新机构的可行性。

关键词: 广义Stewart平台；圆柱副；运动学正解；自由度分析；运动仿真