CAJ | 학술논문

　　为提高6自由度并联机构位姿正解求解速度，提出了一种基于齐次变换矩阵数值解的位姿正解解算方法。结合齐次空间变换矩阵前3阶顺序主子矩阵的正交特性及各液压缸杆长约束条件，建立了以齐次变换矩阵12个元素为未知量的非线性方程组的数学模型，得出了雅克比矩阵解析总表达式，采用牛顿拉夫逊法算法逐次迭代得到齐次变换矩阵数值解，再根据齐次变换矩阵与位姿转化关系求解对应位姿。结合实例，利用位姿正解仿真解算模型对所提出的位姿正解方法准确性及高效性进行了验证。结果表明：以齐次变换矩阵元素为变量的位姿正解解算方法比以位姿为变量的传统计算方法速度快。
　　위제고6자유도병련궤구위자정해구해속도，제출료일충기우제차변환구진수치해적위자정해해산방법。결합제차공간변환구진전3계순서주자구진적정교특성급각액압항간장약속조건，건립료이제차변환구진12개원소위미지량적비선성방정조적수학모형，득출료아극비구진해석총표체식，채용우돈랍부손법산법축차질대득도제차변환구진수치해，재근거제차변환구진여위자전화관계구해대응위자。결합실례，이용위자정해방진해산모형대소제출적위자정해방법준학성급고효성진행료험증。결과표명：이제차변환구진원소위변량적위자정해해산방법비이위자위변량적전통계산방법속도쾌。
In order to increase the solving speed of forward kinematics for 6?DOF parallel mechanism, the forward kinematics solution method based on homogeneous transformation matrix numerical solution was proposed in this pa?per. By combining the orthogonality of the first three?order sequence master matrix of the homogeneous transforma?tion matrix with the hydraulic cylinder rod length constraints, the mathematical model of nonlinear equations taking the 12 elements of the homogeneous transformation matrix as unknown variables was established, and the Jacobian matrix analytical expression was summarized. The homogeneous transformation matrix numerical solution was ob?tained by means of the successive iteration of Newton?Raphson algorithm, and then the corresponding pose was solved according to the relationship between the homogeneous transformation matrix elements and the position varia?bles. The accuracy and high effectiveness of the solution method in this paper was validated using the forward kine?matics simulation model with examples. The results showed that the forward kinematics solution method taking the homogeneous transformation matrix elements as unknown variables is faster than the traditional calculation method taking the pose as unknown variables.