3/6-SPS型Stewart并联机构奇异轨迹的性质识别  

Property Identification of the Singularity Loci of 3/6SPS Stewart Manipulator

作　　者：曹毅[1] 黄真[2] 李艳文[2] 

机构地区：[1]江南大学,无锡214122 [2]燕山大学,秦皇岛066004

出　　处：《中国机械工程》2006年第4期391-396,共6页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50275129)

摘　　要：基于并联机构奇异位形产生的运动学原理,推导出3/6-SPS型Stewart机构奇异轨迹的解析表达式,并基于此原理提出了分析并联机构奇异位形的等效机构法,利用此方法推导出了3/6-SPS型Stewart机构处于一般姿态时在θ-平面上的奇异轨迹方程,并对其轨迹的性质进行了识别。研究结果表明,3/6-SPS型Stewart机构在相互平行的θ-平面上的奇异轨迹总是一二次多项式,包括四对相交直线、一条抛物线及双曲线束。在分析的基础上,对该并联机构处于各种姿态时的奇异轨迹的性质进行了总结。Based on the new singularity kinematics principles, a cubic polynomial expression that represented the singularity loci of 3/6--SPS Stewart manipulator was obtained and a singularity-e- quivalent- mechanism was proposed as well. Using this singularity-equivalent-mechanism, the singularities of the manipulator in θ-planes for general orientations were addressed and their properties were identified in detail. It shows that singularity loci of the 3/6-SPS Stewart manipulator in parallel θ--planes are all quadratic expressions, which contain infinite hyperbolas, four pairs of intersecting lines and a parabola. At the end, we explicitly generalize all possibilities of the singularity loci for all possible orientations of the 3/6-SPS Stewart manipulator.

关 键 词：STEWART机构 等效机构法 奇异轨迹 性质识别 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]