中文摘要：

对具有半对称结构的6/6-SPS型Stewart并联机构的运动学正解进行了研究。建立了一类具有半对称结构的6/6-SPS型Stewart并联机构运动学正解的数学模型,构造了一个关于该并联机构动平台位置参数及姿态参数的多元多项式方程组。基于该方程组并采用M athem atica符号计算软件,编制了基于M athem atica语言的6/6-SPS型Stewart并联机构运动学正解的求解程序,计算结果表明,对于任意给定的该并联机构的结构参数以及六个驱动杆杆长,该类6/6-SPS型Stewart并联机构的运动学正解在复数域内最多有28组解析解。并联机构运动学正解的研究为该类并联机构的工作空间分析、轨迹规划及控制奠定了重要的理论基础。

英文摘要：

Addresses the direct kinematics of a special class of the 6/6-SPS Stewart manipulators in which the moving and base platforms are two similar semisymmetrical hexagons. After proposing a mathematical model of the direct kinematics of this special class of the Stewart manipulators, a multivariate polynomial equations set in the moving platform position parameters and orientation parameters is constructed in which input-parameters are geometric parameters and the link-length of each limb of this special class of the 6/6-SPS Stewart manipulators. Based on this multivariate polynomial equations set, an algorithm has been developed in Mathematica language for solving the direct kinematics of this special class of the 6/6-SPS Stewart manipulators by utilizing a symbolic computation software Mathematica, computation results first show that the maximum number of the complete analytical solution to the direct kinematic problem of this special class of the 6/6-SPS Stewart manipulators is up to 28 in the complex domain for any given set of geometric parameters and six given link-lengths of the manipulator considered. Direct kinematic analysis of this special class of the 6/6-SPS Stewart manipulators paves underlying theoretical grounds for the workspaee analysis, path planning and control of this special class of the 6/6-SPS Stewart manipulators.