Optimum Design of 3-3 Stewart Platform Considering Inertia Property
Optimum Design of 3-3 Stewart Platform Considering Inertia Property
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DOI：
10.1155/2013/249121
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发表时间：
2013
影响因子：
2.1
通讯作者：
Zhufeng Shao;Xiaoqiang Tang;Liping Wang
中科院分区：
文献类型：
--
作者：
Zhufeng Shao;Xiaoqiang Tang;Liping Wang
优化设计是发挥并联机构在实际应用中潜在优势的关键途径。本文涉及 3-3 Stewart 平台的优化设计问题，除了考虑运动学性能外，还考虑了惯性特性。在球形可用工作空间的基础上，分析了全局调节指数（GCI）。利用建立的无量纲设计空间推导出工作空间和GCI图集。进一步地，经过动力学建模，从关节空间惯性矩阵推导出全局惯性指数（GII），并绘制相应的GII图集。特别地，给出了一个例子来说明基于这些无量纲图集获得实际最佳结果的过程。由于同时考虑了运动学和动态特性，最佳结果将具有综合性能改进。
Optimum design is a pivotal approach to fulfill the potential advantages of the parallel manipulator in practical applications. This paper concerns the optimum design issue of the 3-3 Stewart platform considering the inertia property, in addition to the kinematic performance. On the basis of spherical usable workspace, global conditioning index (GCI) is analyzed. Atlases of the workspace and GCI are deduced with the established nondimensional design space. Further, after dynamic modeling, the global inertia index (GII) is deduced from the joint-space inertia matrix, and corresponding GII atlases are drawn. In particular, an example is presented to illustrate the process of obtaining the practical optimum results based on these non-dimensional atlases. Since both kinematic and dynamic properties are considered, the optimum result will possess comprehensive performance improvements.