6－6型Stewart机器人的可操作性分析及其定义

详细信息

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．
- stewart机构 /
- 并联机器人 /
- 奇异点 /
- 位置可操作度 /
- 姿态可操作度 /
- 综合可操作度
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.
- Stewart platform /
- parallel manipulator /
- singular point /
- position manipulability /
- orientationmanipulability /
- synthesis manipulability

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