| Stewanrt平台的运动奇异性与力奇异性研究 |
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| 引用本文： | 仇原鹰 Nobuyoshi MORITA 等.Stewanrt平台的运动奇异性与力奇异性研究[J].西安电子科技大学学报,2001,28(2):202-207. |
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| 作者姓名： | 仇原鹰 Nobuyoshi MORITA |
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| 作者单位： | [1]西安电子科技大学机电工程学院，陕西西安710071 [2]日本 |
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| 基金项目： | 国家自然科学基金资助项目(59675040) |
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| 摘 要： | Stewart平台运动时，平台可能发生运动奇异性和力奇异性。通过对平台运动方程Jacobian矩阵和力平衡方程Jacobian矩阵的分析，给出了两Jacobian矩阵的元素、行列式和条件数之间的联系，并对比了两种奇异面方程。数学分析与实例说明，Stewart平台的运动学第三类奇异性与力的奇展示性同时发生。
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| 关 键 词： | 平行机械手 Stewart平台 运动奇异性 力奇异性 |
| 文章编号： | 1001-2400(2001)02-0202-05 |
| 修稿时间： | 2000年6月7日 |
Research on the kinematic
singularity and the force singularity of the Stewart platform |
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| QIU Yuan ying ,DUAN Bao yan ,SHENG Ying ,Morita Nobuyoshi.Research on the kinematic
singularity and the force singularity of the Stewart platform[J].Journal of Xidian University,2001,28(2):202-207. |
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| Authors: | QIU Yuan ying DUAN Bao yan SHENG Ying Morita Nobuyoshi |
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| Affiliation: | QIU Yuan ying 1,DUAN Bao yan 1,SHENG Ying 1,Morita Nobuyoshi 2 |
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| Abstract: | When the Stewart platform moves, the kinematic singularity and the force singularity may accur. By analyzing the Jacobian matrix of the kinematic equation and the Jacobina matrix of the force equation, this paper shows the relationship between the elements, the determinants, and the condition numbers of the two Jacobian matrixes. Meanwhile the two kinds of singularity manifolds are also compared. The analysis and an example indicate that the kinematic singularity and the force singularity occur simultaneously. |
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| Keywords: | parallel manipulator Stewart platform kinematic singularity force singularity |
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