›› 2015, Vol. 21 ›› Issue (第2期): 449-454.DOI: 10.13196/j.cims.2015.02.018
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马志强1,李泷杲1,邢宏文2,黄翔1
基金资助:
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
摘要: 为了提高机翼调姿过程中球铰点位置的测量效率,研究了一种应用于飞机机翼调姿的3-PPPS并联机构运动学正解问题。以3个随动驱动位移为突破口,以机构球铰点之间距离不变为约束条件,将约束条件表示为3个驱动位移的函数,建立约束方程,利用Sylvester消去法得到球铰点位置坐标。运用球铰点位置向量叉乘积,求解出运动平台的位姿。由此给出该调姿机构运动学正解的一种封闭解法,并得到该机构的全部位姿正解,避免了原调姿过程中球铰点位置的迭代求解计算。通过数值实例,验证了所提方法的合理性与有效性。
关键词: 并联机构, 封闭解, 运动学正解, 约束方程
CLC Number:
TH112
V262.4
马志强,李泷杲,邢宏文,黄翔. 3-PPPS并联机翼调姿机构运动学解析正解[J]. 计算机集成制造系统, 2015, 21(第2期): 449-454.
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URL: http://www.cims-journal.cn/EN/10.13196/j.cims.2015.02.018
http://www.cims-journal.cn/EN/Y2015/V21/I第2期/449