| 用几何形体法求解并联机械手位置正解 |
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| 引用本文： | 张俞平,黄真.用几何形体法求解并联机械手位置正解[J].太原科技大学学报,1991(1). |
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| 作者姓名： | 张俞平 黄真 |
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| 作者单位： | 太原机电研究所
(张俞平),燕山大学(黄真) |
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| 摘 要： | 本文提出以虚拟杆为主要特点的几何形体法用于求解并联机械手的位置正解。与“六维搜索算法”相比,具有初值选取简单,适用性强的特点。为并联机械手的工作空间分析与综合、误差分析与综合等提供了一个有力的工具。
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| 关 键 词： | 并联机械手 位置正解 几何形体法 |
Positiolv Solution of the platform Type Manipulator is Evaluated by Geometrical Shape Mechocl (GSM) |
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| Zhang Yuping Huang Zhen.Positiolv Solution of the platform Type Manipulator is Evaluated by Geometrical Shape Mechocl (GSM)[J].Journal of Taiyuan University of Science and Technology,1991(1). |
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| Authors: | Zhang Yuping Huang Zhen |
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| Institution: | Zhang Yuping Huang Zhen |
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| Abstract: | Thia paper presents the geometrical shape method with imaginary bar as main characteristics being usedtc evaldate the position solution of the platform type manipulator. Comparedwith "six demensional search afgori -thm ".It is easy to select initial value and is more svitable to use. It provides a strong means for manipulator on workspace analysis and Synth -esis and error analysis and synthesis. |
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| Keywords: | platform type manipulator position solation gevmetrical shape mechod |
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