空间5S-S并联机器人机构尺度综合的解析方法
An Analytic Method for the Synthesis of Spatial 5S-S Parallel Robot Mechanism
-
摘要:Groebner基是多项式理想理论中的一个重要概念和研究工具。将基于Groebner基的代数方法应用于空 间5S-S机构刚体导引综合,获得当给定刚体6个精确点时问题的符号型三角形Groebner基,即解析形式的解。Abstract:Groebner base is an important concept and a powerful tool for solving the problems in nonlinear polynomial algebraic systems. In this paper, an algebraic method based on Groebner bases is applied to the synthesis of a spatial 5S-S parallel robot mechanism for the first time. The symbolic triangular Groebner bases,i. e., the analytic solution of the problem of a rigid body with six given precise points, are obtained.
-
Key words:
- spatial mechanisms/
- robots/
- Groebner bases/
- polynomial algebra
-
点击查看大图
计量
- 文章访问数:1349
- HTML全文浏览量:89
- PDF下载量:108
- 被引次数:0
下载: