刘旭东, 黄田, 汪劲松. 给定位姿能力和运动灵活度的Stewart并联机器人解析尺度综合[J]. 机器人, 2000, 22(2): 128-135.
引用本文: 刘旭东, 黄田, 汪劲松. 给定位姿能力和运动灵活度的Stewart并联机器人解析尺度综合[J]. 机器人, 2000, 22(2): 128-135.
LIU Xu-dong, HUANG Tian, WANG Jin-song. DIMENSIONAL SYNTHESIS OF STEWART PARALLEL MANIPULATORS WITH THE PRESCRIBED WORKSPACE AND DEXTERITY[J]. ROBOT, 2000, 22(2): 128-135.
Citation: LIU Xu-dong, HUANG Tian, WANG Jin-song. DIMENSIONAL SYNTHESIS OF STEWART PARALLEL MANIPULATORS WITH THE PRESCRIBED WORKSPACE AND DEXTERITY[J]. ROBOT, 2000, 22(2): 128-135.

给定位姿能力和运动灵活度的Stewart并联机器人解析尺度综合

DIMENSIONAL SYNTHESIS OF STEWART PARALLEL MANIPULATORS WITH THE PRESCRIBED WORKSPACE AND DEXTERITY

  • 摘要: 本文利用位置空间的分片解析解答,构造出具有非零最小可达章动角球形主工作空间的解析解答,探讨了结构参数对球形主工作空间大小的影响规律,并据此提出一种满足局部运动灵活度约束和给定位姿能力的Stewart并联机器人次最优尺度综合方法.最后通过算例验证了该方法的有效性.

     

    Abstract: The analytical representation of the spherical position workspace is formulated, using differential geometry. Having introduced the new concept called workspace radius difference, a new approach to synthesizing the radius of the primary workspace has been developed. With this method, the influence of the dimensional parameters on the position and orientation capabilities of the mobile platform is investigated, a synthesis method is also developed.

     

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