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分析了六自由度运动平台分别采用球铰链和万向节铰链进行连接时的自由度,运用欧拉角、旋转变换的方法推导出位置反解方程,介绍了数值迭代法进行位置正解的过程。
The degree of freedom when the six-degree-of-freedom motion platform is connected by the hinge of the ball joint and the universal joint respectively is analyzed. The position inverse solution equation is deduced by using Euler angles and rotation transformation. The numerical iterative method is introduced to solve the position positive solution.