Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism

被引：18
|
作者：
Wang, Yue [1 ]
Yu, Jingjun [1 ]
Pei, Xu [2 ]
机构：
[1] Beihang Univ, Robot Inst, Beijing 100191, Peoples R China
[2] Beihang Univ, Dept Mech Design, Beijing 100191, Peoples R China
来源：
FRONTIERS OF MECHANICAL ENGINEERING | 2018年 / 13卷 / 03期
基金：
中国国家自然科学基金;
关键词：
3-RPS parallel mechanism; forward kinematics; numerical algorithm; parasitic motion;
D O I：
10.1007/s11465-018-0519-5
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A new forward kinematics algorithm for the mechanism of 3-RPS (R: Revolute; P: Prismatic; S: Spherical) parallel manipulators is proposed in this study. This algorithm is primarily based on the special geometric conditions of the 3-RPS parallel mechanism, and it eliminates the errors produced by parasitic motions to improve and ensure accuracy. Specifically, the errors can be less than 10(-6). In this method, only the group of solutions that is consistent with the actual situation of the platform is obtained rapidly. This algorithm substantially improves calculation efficiency because the selected initial values are reasonable, and all the formulas in the calculation are analytical. This novel forward kinematics algorithm is well suited for real-time and high-precision control of the 3-RPS parallel mechanism.
引用
收藏
页码：368 / 375
页数：8
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