摘要
根据Ｓｔｅｗａｒｔ平台在制造业的应用特点，分析了五自由度（或者低于五自由度）作业运动要求的应用情况，提出了多余自由度的概念。针对运动平台作为旋转运动刀具载体的情况，提出了多余自由度的允许运动范围的计算方法以及利用多余自由度改进机构运动特性的方法。以一种典型的平台模型为例进行计算，就作业空间和可操作性等问题验证了所提出方法的有效性。从算例可以看出，多余自由度在Ｓｔｅｗａｒｔ平台的实时控制中可以得到较好的应用。
This paper investigates the kinematic characteristics of the Stewart platform as a five degree of freedom manipulator according to the requirement of manufacture. The concept of the extra degree of freedom (EDOF) is introduced. The algorithm to determine the actual movement ability in the EDOF and the method to enhance the performance of the manipulator using the EDOF are proposed. A typical model of the Stewart platform is studied. Its workspace and manipulation at different limitation of the EDOF are investigated. It is proved that the EDOF is useful in improving the performance of the platform. It is also expected to be helpful in the instantaneous control of the Stewart platform.
出处
《清华大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
1998年第11期53-57,共5页
Journal of Tsinghua University(Science and Technology)
基金
国家"八六三"高技术项目
国家教委博士点基金
关键词
STEWART平台
作业空间
可操作性
并联机器人
Stewart platform
degree of freedom
workspace
manipulatility
singular configuration
