Stewart并联机器人局部灵活度与各向同性条件解析

CLOSED FORM SOLUTION TO THE LOCAL DEXTERITY AND ISOTROPY OF STEWART PARALLEL MANIPULATORS

构造出Ｓｔｅｗ ａｒｔ并联机器人操作机局部灵活度的解析模型，论证了各种灵活度指标取得极值条件的一致性，揭示出实现局部灵活度各向同性的尺度参数关系。基于对实现位姿能力和灵活度的综合考虑， 提出一种尺度参数的综合方法。通过算例论证了若结构参数使得局部灵活度是满意的，

The analytical expressions of the local deterity of Stewart platform described by the singular values of Jacobian matrix are formulated. It is proved that the different kinematic performance indexes to evaluate the dexterity of the platform are inherently identical. The parametric relationship to find a family of isotropy is derived. The design criteria in conjunction with the detailed procedure are proposed according to the specific requirements for the orientation capability and dexterity. It has been concluded via examples that if the dimensional parameters are designed such that the local performance is satisfactory, so is the global performance provided that the reachable orientation of the mobile platform is limited due to the constraints of the passive joints and actuated variables.