论文标题
在3spr平行操纵器的前进运动学上
On Forward Kinematics of a 3SPR Parallel Manipulator
论文作者
论文摘要
在本文中，提出了一种新的数值方法，用于解决具有三个limb球形 - 普里斯主义 - 固定（3SPR）结构的平行操纵器的正向运动学（FK）。与依赖于操纵器的雅各布矩阵及其在每次迭代时其逆的计算的现有数值方法不同，所提出的算法需要更少的计算来估计FK参数。引入了成本函数，该成本函数测量了实际FK值的估计值差。在每次迭代中，问题分解为两个步骤。首先，获得了从估计的平台方向的估计值。然后，通过沿建议的成本函数的梯度方向移动来更新估计值。为了验证所提出的算法的性能，将其与3spr平行操纵器的基于雅各布的（JB）方法进行了比较。
In this paper, a new numerical method to solve the forward kinematics (FK) of a parallel manipulator with three-limb spherical-prismatic-revolute (3SPR) structure is presented. Unlike the existing numerical approaches that rely on computation of the manipulator's Jacobian matrix and its inverse at each iteration, the proposed algorithm requires much less computations to estimate the FK parameters. A cost function is introduced that measures the difference of the estimates from the actual FK values. At each iteration, the problem is decomposed into two steps. First, the estimates of the platform orientation from the heave estimates are obtained. Then, heave estimates are updated by moving in the gradient direction of the proposed cost function. To validate the performance of the proposed algorithm, it is compared against a Jacobian-based (JB) approach for a 3SPR parallel manipulator.
