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.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2001年第5期502-504,共3页
China Mechanical Engineering
