6-UPS型Stewart并联机构空间对接装置的运动学分析-豆柴文库

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6-UPS型Stewart并联机构空间对接装置的运动学分析
Title:KinematicAnalysisof6-UPSTypeStewartParallelManipulatorSpatialDockingDevice
Abstract:
The6-UPS(Universal-Prismatic-Spherical)typeStewartparallelmanipulatorisawidelyusedroboticmechanisminvariousindustriesduetoitshighprecisionandversatility.Thispaperaimstoprovideacomprehensivekinematicanalysisofa6-UPStypeStewartparallelmanipulatorspatialdockingdevice,focusingonitsspatialmotioncharacteristicsandthecalculationofitsworkspace.Theanalysismethodinvolvestheestablishmentofthekinematicmodel,thedeterminationofitsinverseanddirectkinematics,andtheevaluationofitsworkspace.Theresultsobtainedfromthisstudycancontributetotheimprovementofthedockingdevice'sdesignandperformance.
1.Introduction:
Stewartparallelmanipulatorsareknownfortheirabilitytoprovidepreciseandaccuratemotioninawiderangeofapplications,includingspacedocking.The6-UPStypeStewartparallelmanipulatorconsistsofsixlinearactuatorsthatactuateamovingplatformwithsixdegreesoffreedom.Understandingitskinematicsisessentialforoptimizingthedesignandcontrolofthesemechanisms,particularlyinspatialdockingapplications.
2.KinematicModel:
Thefirststepinthekinematicanalysisistoestablishthemathematicalmodelofthe6-UPStypeStewartparallelmanipulator.Thismodelincludesthegeometricparameters,coordinatesystems,andtherelationshipbetweentheactuatorlengthsandthepositionoftheend-effector.Adetailedderivationoftheforwardandinversekinematicsequationsispresented,takingintoaccounttherotationaxesandprismaticlengths.
3.InverseKinematics:
Theinversekinematicsprobleminvolvesdeterminingtheactuatorlengthsrequiredtoachieveadesiredpositionandorientationoftheend-effector.Bysolvingtheinversekinematicsequationsderivedintheprevioussection,therequiredactuatorlengthscanbeobtained.Thisinformationiscrucialincontrollingtheparallelmanipulatorduringspatialdockingtasks.
4.DirectKinematics:
Thedirectkinematicsprobleminvolvesobtainingthepositionandorientationoftheend-effectorbasedonthegivenactuatorlengths.Byutilizingtheforwardkinematicsequationsderi