2018 年 12 巻 7 号 p. JAMDSM0130
Many assembly modes exist due to multi-solutions for forward kinematics of 6-UPS parallel robot. However, the existing theoretical research results have not been well applied to the real-time control, because of the complexity of the forward kinematics. This paper proposes an analytic algorithm to establish the forward kinematics model of a 6-UPS parallel robot with an extra displacement sensor mounted on the centers of upper and lower platform ((6+1)-UPS). Based on the unit quaternion method, the improved forward kinematics model of the proposed (6+1)-UPS system is theoretically derived to be four equations about four components of unit quaternion. The whole computation process is analytical. The method of measurement of the 7th link length and the utilization of unit quaternion reduces the complexity of computation process of forward kinematics, avoids the computer memory spillover and increases the computation efficiency to be suitable for the real-time control application. Then, the analytical solution of the position vector and orientation matrix of the (6+1)-UPS parallel robot are obtained. Finally, the correctness and effectiveness of the proposed approach are illustrated with a numerical example.