Stewart平台雅可比矩阵分析

On Jacobian Matrix of Stewart Platform

通过Stewart平台的运动学分析,推导出雅可比矩阵公式,并通过仿真结果对其物理意义进行验证。

Jacobian matrix is an important parameter of Stewart platform.Through analyzing it,the relationship between platform velocity and hydro-cylinder velocity,the relationship between platform bearing and hydro-cylinder force,the control of hydro-cylinder and the motor coupling situation among all degree of freedom can be obtained.Hence,it s very important to deduce Jacobian matrix and explain its physical meaning.By the kinematics analysis of Stewart platform,this paper deduces Jacobian matrix and verifies its ...