Research on Fast Forward Position Solution of Parallel Mechanisms

Abstract:

It is difficult to obtain analytical solution to forward kinematics for parallel mechanism, and the speed of the solution based on conventional numerical solution method is lower, and hard to achieve real-time performance in motion control. In this paper, in order to avoid the two problems, a forward position solution method was proposed to approach the forward kinematics analytical solution exponentially. The Stewart platform was taken as example, its kinematics model was built, and then according a complex motion trajectory of moving platform given, the driving displacement of actuated joints was solved by inverse kinematics method, and then based on the driving displacement trajectory of actuated joints, using the forward position solution method, the forward kinematics solution was obtained, the simulation results showed that the forward position solution method can not only completely ensure real-time performance, but also attain very high accuracy, and so the forward position solution method for forward kinematics can be applied in motion control of parallel mechanisms.

• Periodical: Applied Mechanics and Materials (Volumes 220-223)
• Pages: 1735-1739
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.220-223.1735
• Online since: November 2012
• Authors: Xiu Ying Han, Ai Fang Guo
• Keywords: Forward Position Solution, Motion Control, Parallel Mechanism

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