6-PUS并联机构的运动学正解分析

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Kinematics analysis of a 6--PUS parallel mechanism was done herein, and we focused on the forward kinematics solving method_ Deeoupling the position and orientation variables of the moving platform, the position variables would be expressed with the orientation variables. Three e- quations about orientation variables were obtained through Cayley formula and the relationship among position variables. Solving these equations, the orientation variables can be obtained. A specific ex- ample was introduced to verify the method offered herein.对6-PUS并联机构的运动学问题进行了分析,着重研究其运动学正解的求解方法。对动平台的位姿变量进行解耦处理,将位置变量表达为姿态变量的函数形式;利用Cayley公式、位置向量的转换关系得到了3个关于姿态变量的约束方程;求解约束方程组得到姿态变量,进而求得位置变量。算例验证了方法的正确性和有效性。