Stewart 运动平台的雅可比矩阵条件数的研究

Study on the Condition Number of Jacobian Matrix of Stewart Platforms

从运动学的观点出发，对Ｓｔｅｗａｒｔ平台的雅可比矩阵的条件数与结构尺寸之间的关系进行了分析，给出了机构的结构参数与雅可比矩阵条件数之间的无量纲化关系曲线．在此基础上，得出了益于降低条件数、提高机构的运动控制性能的设计参数．

The relationship between design parameters of Stewart platforms and the condition number of Jacobian matrix is analyzed from the kinematic viewpoint. Non dimensionalized curves in terms of the condition number, the design parameters and the motion and orientation of the platform are given. The solution to keep the condition number at a low level is investigated.