【摘要】 Stewart平台机构的正解具有多解性 ,这使得该机构在空间某些位姿下会出现运动不确定的情况 ,运动变得不可控制。对 Stewart机构这种运动的不确定性与其奇异位形的联系进行了深入的研究更多还原

【Abstract】 The forward displacement solutions of Stewart Platform are not unique, this property causes motion uncertainty of the mechanism in some places, that is to say the motion is uncontrollable. In this paper , the relationship between motion controllability criterion and singular configurations of the Steward Platform is studied.更多还原