Stewart型六自由度平台正解及工作空间分析  

Forward kinematics and workspace analysis of the Stewart-type six-degree-of-freedom platform

作　　者：樊建中 徐邦联 张雷洪[2] 张大伟[2] 王碧涛[1] 严启予 Fan Jianzhong;Xu Banglian;Zhang Leihong;Zhang Dawei;Wang Bitao;Yan Qiyu(University of Shanghai for Science and Technology,School of Publishing,Shanghai 200093,China;School of Optical-Electrical and Computer Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学出版学院,上海200093 [2]上海理工大学光电信息与计算机工程学院,上海200093

出　　处：《智能计算机与应用》2025年第2期77-84,共8页Intelligent Computer and Applications

基　　金：基础科研条件与重大科学仪器设备研发重点专项资金(2023YFF0718103)。

摘　　要：本文深入分析了Stewart型六自由度平台的运动学正解和工作空间,采用遗传算法和牛顿迭代法相结合的方法,有效解决了运动学正解的多解性和复杂性问题,提高了求解精度与效率。同时,通过对电动缸长度限制、铰链转动角度限制及电动缸间干涉的综合考虑,成功绘制了Stewart平台的工作空间外包络面。本文不仅为Stewart平台的设计和优化提供了理论基础,也对并联机构控制系统的设计与应用有重要指导意义。This paper conducts a comprehensive analysis of the kinematic solutions and workspace of the Stewart-type six-degree-of-freedom platform.By integrating genetic algorithms with Newton's iterative method,it addresses the complexity and multiple solutions of kinematic analysis,enhancing the precision and speed of the solutions.Additionally,the workspace envelop of the platform is successfully delineated,considering constraints like actuator length,joint rotational angles,and interference between actuators.This study not only lays a theoretical foundation for the design and optimization of Stewart platforms but also offers significant guidance for the design and application of parallel robotic control systems.

关 键 词：STEWART平台 运动学正解 工作空间 遗传算法 牛顿迭代法 

分 类 号：TH112[机械工程—机械设计及理论]