摘要
本文针对并行结构机器人的结构特点建立一种新的姿态描述 ,给出了相应的定义 ;并基于这种描述及Grassm ann线几何对 6 - 3并行结构机器人工作空间的奇异问题进行分析 ,得到一个简单而有效的非奇异边界 ,及该区域内的杆长约束条件下保守的工作空间解析解 .且与模型结构无关 ,具有普适性 .因此只要并行结构机器人的模型描述采用了新的方法 ,那么它的运动学研究就可以通过这种方法来进行 .
This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators. Based on the concepts and Grassmann line geometry, the singularity postures of 6-3 Stewart platform are discussed, which leads to an analytic non-singularity zone expression. The configurations of maximum and minimum length of leg in the whole zone are discovered, meanwhile it proved they are true. Based on these results, the authors discover a conservative analytic boundary expression of workspace. The method described here is adaptable to the other cases, so that the kinematics would be solved corresponding to a new pose description of parallel manipulators.
出处
《机器人》
EI
CSCD
北大核心
2001年第3期238-245,共8页
Robot
关键词
并行结构机器人
姿态描述
非奇异区域
工作空间解析解
parallel manipulator, pose description, non-singularity zone, analytic expression of workspace
