饶青, 白师贤. 6-6型Stewart机器人的可操作性分析及其定义[J]. 机器人, 1994, 16(6): 345-349.
引用本文: 饶青, 白师贤. 6-6型Stewart机器人的可操作性分析及其定义[J]. 机器人, 1994, 16(6): 345-349.
RAO Qing, BAI Shixian. MANIPULABILITY ANALYSIS AND DEEINITION OF 6-SPS STEWART ROBOT[J]. ROBOT, 1994, 16(6): 345-349.
Citation: RAO Qing, BAI Shixian. MANIPULABILITY ANALYSIS AND DEEINITION OF 6-SPS STEWART ROBOT[J]. ROBOT, 1994, 16(6): 345-349.

6-6型Stewart机器人的可操作性分析及其定义

MANIPULABILITY ANALYSIS AND DEEINITION OF 6-SPS STEWART ROBOT

  • 摘要: 本文根据并联机器人的特点,运用可操作度的概念,进一步提出了位置可操作度和姿态可操作度的定义.通过对位置反解直接求导,建立了6-6型stewart机器人的位置、姿态和综合可操作度的公式,为并联机器人的运动学分析提供了依据.

     

    Abstract: In accordance with the character of parallel robt manipulator,the concept of manipulability areused in this paper. Go a step further,the position manipulalibity and orientation manipulalibity are put for-ward.By direct derivation for position inverse sollutiOn,the formula of position and orientation manipulability of 6-SPS Stewart robot are established,which provide a new law for the parallel robot kinematic analysis.

     

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