| 6/6-Stewart机构姿态奇异及姿态工作空间分析 |
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| 引用本文： | 曹毅,黄真,周辉. 6/6-Stewart机构姿态奇异及姿态工作空间分析[J]. 现代制造工程, 2005, 0(6): 90-92 |
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| 作者姓名： | 曹毅 黄真 周辉 |
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| 作者单位： | 燕山大学机器人研究中心,秦皇岛,066004 |
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| 摘 要： | 推导出6/6SPS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,提出一种计算6/6SPS型Stewart机构的姿态工作空间的离散算法,并通过计算机仿真给出了6/6SPS型Stewart机构的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 |
| 文章编号： | 1671-3133(2005)06-0090-03 |
| 修稿时间： | 2005-01-19 |
Orientation-singularity and orientation-workspace analysis of the 6/6-Stewart manipulator |
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| Cao Yi,Huang Zhen,Zhou Hui. Orientation-singularity and orientation-workspace analysis of the 6/6-Stewart manipulator[J]. Modern Manufacturing Engineering, 2005, 0(6): 90-92 |
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| Authors: | Cao Yi Huang Zhen Zhou Hui |
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| Abstract: | Based on a particular representation of orientations of the 6/6-Stewart manipulator,a polynomial expression of thirteen degree that represents the orientation-singularity locus of the manipulator at a fixed position is derived and examples are given to illustrate the result.Using this particular orientation representation and the inverse kinematics solution of the Stewart manipulator,a discretization method is proposed for computing the 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 |
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