Design, Placement, and Control of Platform Manipulators

9522840对平台机械手的设计、布置和控制进行了综合研究。将顶点空间方法的概念扩展到Stewart型平台机械手的结构中。分析了尺寸对顶点空间和工作空间的影响。考虑了各种布局策略，并开发了优化技术。设计了一种基于被动关节感知绕过复杂正运动学的作战空间控制系统。为了验证和加强分析研究和图形仿真，搭建了实验平台机械手。研究结果为平台机械手的综合、布局优化和作业空间控制提供了合理的工具。

9522840 Ji An integrated study for the design, placement, and control of platform, manipulators is carried out. The concept of vertex space approach is extended to architectures of platform manipulators other than the Stewart type. The effects of dimensions on vertex spaces and workspaces are analyzed. A variety of placement strategies are considered and optimization techniques are developed. An operational space control system is designed that bypasses the complex forward kinematics with passive joint sensing. An experiment platform manipulator is built to verify and enhance the analytical study and graphic simulation. The research results provide a rational tool for synthesis, placement optimization, and operational space control of platform manipulators.***