Research of the Position Forward Solution of 6-PTRT Parallel Robot
The inverse solution equation set is established according to the mechanism and constrained characteristic of 6- PTRT parallel robot,and the kinematics forward solution equation set is established.Through the further study of the parallel mechanism,the forward solution equations are reduced by six-...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2015-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.07.012 |
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| _version_ | 1841548437053505536 |
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| author | Xu Jing Deng Zilong Zheng Dongzhi |
| author_facet | Xu Jing Deng Zilong Zheng Dongzhi |
| author_sort | Xu Jing |
| collection | DOAJ |
| description | The inverse solution equation set is established according to the mechanism and constrained characteristic of 6- PTRT parallel robot,and the kinematics forward solution equation set is established.Through the further study of the parallel mechanism,the forward solution equations are reduced by six- dimension to three- dimension by using the mechanism own characteristic. The three- dimensional forward solution equations is transformed into solving the optimization problems,and the forward solutions are calculated by using PSO algorithm. The correctness of the mathematical model is verified by comparing between the experimental results and simulation results. This method has the advantages of high efficiency,easy convergence,doesn’t depend on the initial value,and the theoretical basis for the real- time control of 6- PTRT parallel robot is provided. |
| format | Article |
| id | doaj-art-c8d1c6990c8c47ac8335d65ca061d758 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2015-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-c8d1c6990c8c47ac8335d65ca061d7582025-01-10T14:06:01ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392015-01-0139475229918015Research of the Position Forward Solution of 6-PTRT Parallel RobotXu JingDeng ZilongZheng DongzhiThe inverse solution equation set is established according to the mechanism and constrained characteristic of 6- PTRT parallel robot,and the kinematics forward solution equation set is established.Through the further study of the parallel mechanism,the forward solution equations are reduced by six- dimension to three- dimension by using the mechanism own characteristic. The three- dimensional forward solution equations is transformed into solving the optimization problems,and the forward solutions are calculated by using PSO algorithm. The correctness of the mathematical model is verified by comparing between the experimental results and simulation results. This method has the advantages of high efficiency,easy convergence,doesn’t depend on the initial value,and the theoretical basis for the real- time control of 6- PTRT parallel robot is provided.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.07.012 |
| spellingShingle | Xu Jing Deng Zilong Zheng Dongzhi Research of the Position Forward Solution of 6-PTRT Parallel Robot Jixie chuandong |
| title | Research of the Position Forward Solution of 6-PTRT Parallel Robot |
| title_full | Research of the Position Forward Solution of 6-PTRT Parallel Robot |
| title_fullStr | Research of the Position Forward Solution of 6-PTRT Parallel Robot |
| title_full_unstemmed | Research of the Position Forward Solution of 6-PTRT Parallel Robot |
| title_short | Research of the Position Forward Solution of 6-PTRT Parallel Robot |
| title_sort | research of the position forward solution of 6 ptrt parallel robot |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2015.07.012 |
| work_keys_str_mv | AT xujing researchofthepositionforwardsolutionof6ptrtparallelrobot AT dengzilong researchofthepositionforwardsolutionof6ptrtparallelrobot AT zhengdongzhi researchofthepositionforwardsolutionof6ptrtparallelrobot |