The orientation-singularity expression of the Stewart platform is deduced by using unit quaternion which can avoid singularity when using Euler angles to represent the orientation of rigid body, and then the algorithm of orientation-workspace of the manipulator at a certain position is proposed.
基于单位四元数描述的刚体姿态,避免了欧拉角等描述刚体姿态的奇异性问题,推导出Stewart机构处于给定位置时的姿态奇异解析表达式,并提出了该机构处于给定位置时的姿态工作空间算法,通过计算机仿真给出该机构处于一给定位置时姿态奇异轨迹和姿态工作空间的三维可视化描述。
Base on a new describing method of the orientation-workspace, a new arithmetic of the orientation-workspace and the singular orientation-space of the parallel manipulator is developed.
在给出一种姿态空间描述方法的基础上,提出了一种姿态工作空间和奇异姿态空间的求解算法。
The concept and algorithm for nonsingular orientation-workspace of the platform at a certain position are proposed.
提出了该机构处于给定位置时的非奇异姿态工作空间概念及其算法,并以非奇异姿态工作空间边界曲面的最小内切球作为实际姿态工作空间,以该球半径大小作为衡量机构处于给定位置时的实际姿态能力的性能指标。
Using this particular orientation representation and the inverse kinematics solution of the Stewart manipulator, a discretization method was proposed for the computation of orientation- workspace and practical orientation-workspace of the manipulator taking i.
利用位置反解方程并综合考虑所有的结构约束条件,提出了一种计算6/6-SPS型Stewart机构的姿态工作空间的离散算法,基于此算法提出了计算该并联机构的实际姿态工作空间的离散算法。