6/6-Stewart机构姿态奇异及姿态工作空间分析  

Orientation-singularity and orientation-workspace analysis of the 6/6-Stewart manipulator

作　　者：曹毅[1] 黄真[1] 周辉[1] 

机构地区：[1]燕山大学机器人研究中心,秦皇岛066004

出　　处：《现代制造工程》2005年第6期90-92,共3页Modern Manufacturing Engineering

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。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.

关 键 词：STEWART机构 姿态奇异轨迹 姿态工作空间 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]