【摘要】 基于并联机构奇异位形产生的运动学原理,推导出3/6 Stewart并联机构奇异位形的解析表达式。并基于此原理 提出了分析并联机构奇异位形的等效机构法,利用此方法推导出了当3/6 Stewart并联机构位于一般姿态时在θ 平面上 的奇异轨迹方程并对其轨迹性质进行了识别。在这些分析的基础上,对该并联机构处于各种姿态时的奇异轨迹的性质 进行了总结。更多还原

【Abstract】 Based on the new singularity kinematics principle,a cubic polynomial expression that represents the singularity loci of the 3/6-Stewart manipulator is obtained and a singularity-equivalent-mechanism is proposed as well.Using this singularity-equivalent-mechanism,the singularities of the manipulator in θ -planes for general orientations were addressed and their properties were identified in detail.Explicitly generalize all the possibilities of the singularity loci for all the possible orientations of the 3/6-Stewart manipulator.更多还原