计算6-6型斯图尔特平台在特定姿态空间内的最大无奇异性球体积
A semi-analytical approach for computing the largest singularity-free spheres of a class of 6-6 Stewart-Gough platforms for specified orientation workspaces
- 针对固定姿态，解析求解无奇异性球；遍历姿态空间采样后取最小值
- 四种不同构型的SGPM在相同姿态空间下，其无奇异性球体积差异显著
- 方法适用于平台设计与性能分析，尤其适合追求稳定工作区的工程场景
本文提出一种计算6-6型斯图尔特平台机械臂（SGPM）在指定姿态工作空间内最大无奇异性球（SFS）的方法。对于动平台的固定姿态，通过解析方式计算SFS；在姿态工作空间内生成采样点，重复该过程，取其中最小值作为给定姿态空间下的目标SFS。对四种不同构型的SGPM进行数值实验，比较其在相同姿态空间下的SFS体积表现。研究验证了所提方法在SGPM分析与设计中的潜在应用价值。
原文摘要 · Abstract (English)
This article presents a method for computing the largest singularity-free sphere (SFS) of a 6-6 Stewart-Gough platform manipulator (SGPM) over a specified orientation workspace. For a fixed orientation of the moving platform, the SFS is computed analytically. This process is repeated over a set of samples generated within the orientation workspace, and the smallest among them is designated as the desired SFS for the given orientation workspace. Numerical experiments are performed on four distinct architectures of the SGPM to understand their relative performances w.r.t. SFS volumes over the same orientation workspace. This study demonstrates the potential utility of the proposed computational method both in analysis and design of SGPMs.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。