点击次数：

论文类型：期刊论文

发表时间：2009-01-01

发表刊物：INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL

收录刊物：SCIE、EI、Scopus

卷号：36

期号：5

页面范围：448-460

ISSN号：0143-991X

关键字：Programming and algorithm theory; Motion; Mechanics

摘要：Purpose - The purpose of this paper is to present an adaptive numerical algorithm for forward kinematics analysis of general Stewart platform.
   Design/methodology/approach - Unlike the convention of developing a set of kinematic equations and then solving them, an alternative numerical algorithm is proposed in which the principal components of link lengths are used as a bridge to analyze the forward kinematics of a Stewart platform. The values of link lengths are firstly transformed to the values of principal components through principal component analysis. Then, the computation of the values of positional variables is transformed to a two-dimensional nonlinear minimization problem by using the relationships between principal components and positional variables. A hybrid Nelder Mead-particle swarm optimizer (NM-PSO) algorithm and a modified NM algorithm are used to solve the two-dimensional nonlinear minimization problem.
   Findings - Simulation experiments have been conducted to validate the numerical algorithm and experimental results show that the numerical algorithm is valid and can achieve good accuracy and high efficiency.
   Originality/value - This paper proposes an adaptive numerical algorithm for forward kinematics analysis of general Stewart platform.