6/6-SPS型Stewart机构奇异轨迹性质识别的Z截面法  

Property Identification of the Singular Loci of the 6/6-SPS Stewart Manipulator by Using the Cross-Section of Z-plane

作　　者：曹毅[1] 周辉[1] 汪选要[2] 张文祥[2] 黄真[1] 

机构地区：[1]燕山大学机器人研究中心,河北秦皇岛066004 [2]安徽理工大学机械工程系,安徽淮南232001

出　　处：《安徽理工大学学报（自然科学版）》2005年第1期22-26,共5页Journal of Anhui University of Science and Technology:Natural Science

基　　金：国家自然科学基金资助项目(50275129)

摘　　要：对6/6-SPS型Stewart并联机构的奇异轨迹的性质进行识别。基于Stewart并联机构奇异轨迹的解析表达式,推导出了该并联机构在相互平行的Z截面上的奇异轨迹。结果表明:6/6-SPS型Stewart并联机构在相互平行的Z截面上的奇异轨迹总是一个二次多项式其包括四对相交直线、一条抛物线及双曲线束。但是,当机构的上、下平台不平行时,机构在空间中的奇异轨迹又是一个不可分解的三次多项式。This paper studied the problem of identifying the property of the singular loci of the 6/6-SPS Stewart manipulators. Based on the analytical expression that represents the singular loci of the manipulator for a constant orientation, a quadratic expression that represents the singular loci of the manipulator in parallel Z-planes was derived, and further the property of the singular loci was identified. It shows that the singular loci of the manipulator in parallel Z-planes are all quadratic expressions, which contain infinite hyperbolas, four pairs of intersecting straight lines and a parabola. So it can be concluded that when the moving platform is not parallel to the base one, the singular locus equation of the manipulator in three-dimensional space is a special irresolvable polynomial expression of 3-degree, whose cross sections in parallel Z-planes contain a parabola, four pairs of intersecting straight lines and infinite hyperbolas.

关 键 词：STEWART并联机构 奇异轨迹 性质识别 奇异分类 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]