6/6型Stewart机构姿态奇异及非奇异姿态工作空间分析  

ORIENTATION-SINGULARITY AND NONSINGULAR ORIENTATION- WORKSPACE ANALYSIS OF THE 6/6-STEWART MANIPULATOR

作　　者：曹毅[1] 黄真[1] 丁华锋 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：《机械工程学报》2005年第8期50-55,共6页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(50275129)。

摘　　要：推导出了6/6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Stewart机构的位置反解并综合考虑所有的结构约束条件,首次提出一种计算6/6型Stewart机构的非奇异姿态工作空间的离散算法,并通过计算机仿真给出6/6型Stewart机构的非奇异姿态工作空间的三维可视化描述。6/6型Stewart机构的非奇异姿态工作空间能保证机构在整个姿态工作空间内不发生任何的运动干涉和奇异位形现象,因此为该机构的设计和使用提供了重要的理论依据。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 6/6- Stewart manipulator, a new discrctization method is proposed for computing the nonsingular oricntation-workspace of the manipulator by taking limitations of active and passive joints and the link interference into account, which can guarantee the manipulator is nonsingular in the whole orientation-workspace. 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 非奇异姿态空间 非奇异姿态工作空间 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]