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所属单位：机电学院
发表刊物：J. Adv. Mech. Des. Syst. Manuf.
摘要：In this paper, a numerical method for forward kinematics of general Stewart manipulator using natural coordinates is presented. The kinematic equations are in quadratic forms and the corresponding Jacobian matrix is a linear function of coordinates because of using natural coordinates. According to the characteristics of the kinematic equations, the Newton-Raphson algorithm is simplified to decrease the renewal time of iterations between equations and Jacobian matrix, and used to solve the kinematic equations. The singularity and convergence problems of the algorithm are discussed. Furthermore, the method using natural coordinates is compared with the traditional method using rotation matrix through numerical examples. Comparison results show that the method using natural coordinates is very accurate, more efficient, and has a greater convergence domain. © 2019 The Japan Society of Mechanical Engineers
是否译文：否
发表时间：2019-01-01
合写作者：Wang, Ruobing,Liu, Yanli,杨晓龙,Zhang, Xuexiang
通讯作者：吴洪涛