Orientation-workspace analysis of a special class of the Stewart-Gough parallel manipulators
Orientation-workspace analysis of a special class of the Stewart-Gough parallel manipulators
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DOI：
10.1017/s0263574709990841
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发表时间：
2009-06
期刊：
影响因子：
--
通讯作者：
Yi Cao;Zhen Huang;Hui Zhou;Weixi Ji
中科院分区：
文献类型：
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作者：
Yi Cao;Zhen Huang;Hui Zhou;Weixi Ji
本文研究一类特殊的Stewart-Gough机器人的姿态-工作空间分析。基于半角变换，推导出了机械臂在固定位置的姿态奇异轨迹的十三次多项式表达式，并举例说明了结果。应用半角变换和该类Stewart-Gough并联机器人的运动学逆解，提出了一种考虑主被动关节约束和连杆干涉的机器人位姿工作空间离散化计算方法。在此基础上，提出了一种新的计算机械臂非奇异位向工作空间的离散化方法，保证了机械臂在整个位向工作空间内的非奇异性。给出了6/6-SPS Stewart-Gough机器人的例子来证明这些理论结果。
This paper addresses the orientation-workspace analysis of a special class of the Stewart-Gough manipulators. Based on half-angle transformation, a polynomial expression of thirteen degree representing the orientation-singularity locus of the manipulator at a fixed position is derived and examples are given to illustrate the result. Applying half-angle transformation and the inverse kinematics solution of this special class of the Stewart-Gough parallel manipulator, a discretization method is proposed for computing the orientation-workspace of the manipulator taking limitations of active and passive joints and the link interference into consideration. Based on this algorithm, this paper also presents a new discretization method for computing nonsingular orientation-workspace of the manipulator, which can guarantee the manipulator is nonsingular in the whole orientation-workspace. Examples of a 6/6-SPS Stewart-Gough manipulator are given to demonstrate these theoretical results.