Open document
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General information |
| Author |
Luo, Youxin; Liu, Qiyuan; Che, Xiaoyi; Li, Lingfang |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
Machine tools based on a Stewart platform are
considered the machine tools of the 21st century. Difficult
problems exist in the design philosophy, of which
forward displacement analysis is the most fundamental.
Its mathematical model is a kind of strongly nonlinear
multivariable equation set with unique characteristics
and a high level of difficulty. Different variable numbers
and different solving speeds can be obtained through
using different methods to establish the model of forward
displacement analysis. The damped least‐square method
based on chaos anti‐control for solving displacement
analysis of the general 6‐6‐type parallel mechanism was
built up through the rotation transformation matrixR ,
translation vector P and the constraint conditions of the
rod length. The Euler equations describing the rotational
dynamics of a rigid body with principle axes at the centre
of mass were converted to a chaotic system by using
chaos anti‐control, and chaotic sequences were produced
using the chaos system. Combining the characteristics of
the chaotic sequence with the damped least‐square
method, all real solutions of forward displacement in
nonlinear equations were found. A numerical example
shows that the new method has some interesting features,
such as fast convergence and the capability of acquiring
all real solutions, and comparisons with other methods
prove its effectiveness and validity. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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