关键词: 并联机构, 封闭解, 运动学正解, 约束方程

Abstract: To improve the efficiency of existing wing position system in the process to getting the hinge point,a 3-PPPS parallel mechanism which used in the airplane wings posture adjustment was researched.With three servo drive displacements as the breakthrough,the length between the three hinge point of the platform was regarded as the restrict condition.The restrict condition were expressed as the function of three servo drive displacements and thus obtained the constrained equations.Sylvester elimination method was used to solve the coordinates of the three hinge point.The vectors cross product was applied to solve the posture of the platform.A closed-form forward kinematics solution were obtained,which avoided the calculation iteration process of original hinge point.The effectiveness and the feasibility of proposed method were verified through the simulation cases.

Key words: parallel mechanism, closed-form solution, forward kinematics, constraint equation