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《Journal of Yanshan University》 2011-05
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Seeking positional forward solution of parallel mechanism based on Jacobin matrix

MI Shi-bin1,JIN Zhen-lin1,2(1.College of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China;2.State Key Laboratory of Mechanical System and Vibration,Shanghai Jiaotong University,Shanghai 200240,China)  
The positional forward solution of parallel mechanism has been a challenging issue.A new method is proposed in this paper.The positional forward solution of parallel mechanism can be solved quickly and accurately when the initial pose and the Jacobin matrix of parallel mechanism are known.This method can be used to control the movement of parallel mechanism.Finally,this method is proved to be feasible and correct by seeking the positional forward solution of 6-PSS parallel mechanism.
【Fund】: 机械系统与振动国家重点实验室开放课题资助项目(MSV-2010-24)
【CateGory Index】: TP242
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