摘要
针对一种上、下面6节点相似分布并且有一定的角度要求的特殊结构的6-Stewart平台,研究了其位置正解的方法。并根据存在多组位置解的特点,给出了判别条件,从而得到其空间惟一解,仿真算例证明了位置正解方法的有效性。同时分析了该结构Stewart平台的工作空间,得出了有益的结论。
This paper studies the forward kinematics of a special 6 - Stewart platform, in which both the base and the mobile platforms are similar hexagons and the prismatic joints are similarly distributed. Considering the characteristic of multi forward solutions, a Simulation results demonstrate the effectiveness of form is analyzed and results are obtained. judgment condition is given and unique solution is obtained. the method. In addition, the workspace of the Stewart platform is analyzed and results are obtained.
出处
《电子科技》
2008年第9期63-66,共4页
Electronic Science and Technology
