Stewart平台的最优构型设计方法研究  

Research on Optimal Configuration Design Method of Stewart Platform

作　　者：范旭伟 杨莉莉 程禹 周小宁 张业鑫 Fan Xuwei;Yang Lili;Cheng Yu;Zhou Xiaoning;Zhang Yexin(Shanghai Electro-Mechanical Engineering Institute,Shanghai 201109,China)

机构地区：[1]上海机电工程研究所,上海201109

出　　处：《系统仿真学报》2020年第10期1981-1988,共8页Journal of System Simulation

摘　　要：为充分利用Stewart平台安全工作空间范围和提高工程实用性,基于并联机构存在的结构奇异和位形奇异问题,提出了相应的安全机构设计方案。以不含任何特殊性的Stewart平台为研究对象,在考虑结构奇异约束的基础上,提出灵巧性指标,解决了结构参数最优化问题;分析建立Stewart平台的运动学模型,对16种典型极限位姿下的位形分岔奇异性进行了分析,提出安全工作空间验证算法,使整个工作空间内无奇异点;仿真结果表明,最优构型设计方法可以高效地设计出运动性能良好的安全Stewart平台机构。Based on the structural singularity and configuration singularity of parallel mechanism,a safety mechanism design scheme of the Stewart platform is proposed to improve the workspace efficiency and engineering practicability.Taking the Stewart platform without any particularity as the research object,and considering the singular constraints of the structure,a dexterity index is proposed to achieve the optimization of the structural parameters.Analyzing and constructing the kinematics model of the Stewart platform,analyzing the singularities of the configuration bifurcations of 16 typical extreme poses,a secure workspace verification algorithm is proposed to make the whole workspace free of singularity.The simulation results show that a safety Stewart platform mechanism with good kinematics performance can be designed efficiently by the optimal configuration design method.

关 键 词：结构奇异 位形奇异 安全工作空间 雅克比矩阵 灵巧性指标 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]