Stewart平台铰点工作空间的研究

Study on Vertex Space of Stewart Platform

针对并联六自由度运动平台工作空间大小与结构尺寸参数评价关系问题进行了探讨,提出了6-6结构六自由度并联机构铰点工作空间的概念,并以此出发建立了工作空间大小与尺寸参数的联接关系表达式,从而实现了直接依据工作空间大小进行结构尺寸设计而不必进行大量工作空间反复核算。通过仿真实验不仅验证了投入使用的飞行模拟器六自由度运动平台结构设计的合理性,而且依据铰点工作空间的原理构造出Stewart平台位置可达工作空间。此方法既为系统总体结构参数合理选择提供理论依据,又对Stewart平台工程设计提供机构边界运动范围,为工作空间的分析与综合提供了新途径。

The analysis is made on the relationship between the workspace and the dimensional parameters of a hydraulic 6-DOF parallel manipulator. The concept of vertex space on 6-6 Stewart platform is introduced. By the vertex space theory, the expression between the workspace and the dimensional parameters of a 6-DOF parallel manipulator is built up. The study makes it possible to provide reasonable structural parameters directly through calculating the workspace without a large quantity of checking. It not only proves the reasonableness of the 6 DOF parallel manipulator used in practice by simulation but also constructs the reachable position workspace of Stewart platform by the vertex space theory. This method supplies theoretical reference for reasonable selection of structural parameters for Stewart platform and can give the boundary of its workspace. It also seems to open up a feasible method to analyze and synthesize the workspace of parallel manipulator.