摘要
针对某型6-DOF Stewart仿真平台绕Z轴转角范围大的要求,提出通过搜索四维工作空间来选择杆长参数的方法.首先将输入的连杆长度均分为若干离散值,6组离散杆长值组合出平台的杆长输入量;然后利用位置正解算法求出对应的上平台位置姿态解,除去其中不满足铰链转角约束和具有奇异位形的解;最后将离散的平台可达位置点组成位置可达空间并划分为若干等体积区域,将每个区域内离散位置点姿态角变化范围的加权函数值作为该区域所有点的第四维坐标.四维工作空间具有可视化的直观效果,其搜索方法简单易行,为某型平台杆长参数的选取提供了依据.
In order to get the maximum angle range around Z axis of 6 - DOF Stewart platform, four dimension workspace search method is proposed. Firstly, all possible kinematics inputs of the manipulator are got through dividing legs length averagely. Then the upper platform＇ s position and orientation is obtained by direct position kinematics algorithm. Finally, the reachable position workspace is divided into several small parts, and in each part angles range＇ s weighted value is regarded as fourth coordinate besides three dimension position. The four dimension workspace is very intuitional, and it can help to determine the leg length by which the manipulator could have maximum angle range around Z axis has been found depending it.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2007年第1期11-13,共3页
Journal of Harbin Institute of Technology
