Stewart平台的运动可控制条件  

Motion Controllability Criterion of Steward Platform

作　　者：刘文涛[1] 王知行[1] 詹涵菁[1] 王宏[1] 

机构地区：[1]哈尔滨工业大学

出　　处：《中国机械工程》2001年第5期502-504,共3页China Mechanical Engineering

摘　　要：Stewart平台机构的正解具有多解性 ,这使得该机构在空间某些位姿下会出现运动不确定的情况 ,运动变得不可控制。对The forward displacement solutions of Stewart Platform are not unique, this property causes motion uncertainty of the mechanism in some places, that is to say the motion is uncontrollable. In this paper , the relationship between motion controllability criterion and singular configurations of the Steward Platform is studied.

关 键 词：STEWART平台 并联机构 运行可控制性 假奇异 

分 类 号：TH112[机械工程—机械设计及理论] TH122