CAJ | 학술논문

介绍一种Stewart并联机构的反解和正解方法,该方法运用ADAMS软件分别模拟了机构的正、反解过程.这种基于 ADAMS 的正、反解方法避免了对各种复杂方程进行求解,经过仿真测试就可实现对机构的运动学解算.尤其是理论上难以用公式推导求解的并联平台正解问题,用该方法不仅避免了运动学正解过程中的多解难题,同时为动力学仿真、控制系统设计提供指导.
개소일충Stewart병련궤구적반해화정해방법,해방법운용ADAMS연건분별모의료궤구적정、반해과정.저충기우 ADAMS 적정、반해방법피면료대각충복잡방정진행구해,경과방진측시취가실현대궤구적운동학해산.우기시이론상난이용공식추도구해적병련평태정해문제,용해방법불부피면료운동학정해과정중적다해난제,동시위동역학방진、공제계통설계제공지도.
The forward and inverse solving method for Stewart parallel mechanism is introduced in this paper. The kinematics solving method can be carried out by use of ADAMS software to simulate forward and inverse solving processes instead of solving complex equations. Particularly for the parallel platform forward solution that is hard to be deduced theoretically, the method can not only avoid the multi-solution issue in kinematics forward solving, but also provide guide for dynamic simulation and control system design.