| Stewart机构姿态奇异及姿态工作空间的研究 |
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| 引用本文： | 曹毅,黄真.Stewart机构姿态奇异及姿态工作空间的研究[J].中国机械工程,2005,16(12):1095-1099. |
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| 作者姓名： | 曹毅 黄真 |
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| 作者单位： | 燕山大学,秦皇岛,066004 |
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| 基金项目： | 国家自然科学基金资助项目(50275129) |
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| 摘 要： | 推导出6/6-SPS型Stewart机构处于固定位置时机构的姿态奇异轨迹的解析表达式。利用位置反解方程并综合考虑所有的结构约束条件,提出了一种计算6/6-SPS型Stewart机构的姿态工作空间的离散算法,基于此算法提出了计算该并联机构的实际姿态工作空间的离散算法。通过计算机仿真给出了6/6-SPS型Stewart机构的姿态工作空间和实际姿态工作空间的三维可视化描述。
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| 关 键 词： | Stewart机构 姿态奇异轨迹 姿态工作空间 实际姿态工作空间 |
| 文章编号： | 1004-132X(2005)12-1095-05 |
Orientation-Singularity and Orientation-Workspace Analysis of Stewart Manipulator |
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| Cao Yi,Huang Zhen.Orientation-Singularity and Orientation-Workspace Analysis of Stewart Manipulator[J].China Mechanical Engineering,2005,16(12):1095-1099. |
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| Authors: | Cao Yi Huang Zhen |
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| Affiliation: | Cao Yi Huang Zhen Yanshan University,Qinghuangdao,066004 |
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| Abstract: | Based on particular representation of orientations of a stewart manipulator, a polynomial expression that represents the orientation-singularity locus of the manipulator at a fixed position was derived and examples were given to illustrate the results. Using this particular orientation representation and the inverse kinematics solution of the Stewart manipulator, a discretization method was proposed for the computation of orientation- workspace and practical orientation-workspace of the manipulator taking into account limitations of active and passive joints and the link interference. Examples of a 6/6-SPS Stewart manipulator are given to demonstrate the results. |
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| Keywords: | Stewart manipulator orientation-singularity locus orientation-workspace practical orientation-workspace |
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