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Abstract: Based
on a particular representation of orientations of the 6/6-Stewart
manipulator, a polynomial expression of thirteen degree that represents
the orientation-singularity locus of the manipulator at a fixed position
is derived and examples are given to illustrate the result. Using this
particular orientation representation and the inverse kinematics
solution of the 6/6- Stewart manipulator, a new discretization method is
proposed for computing the nonsingular orientation-workspace of the
manipulator by taking limitations of active and passive joints and the
link interference into account, which can guarantee the manipulator is
nonsingular in the whole orientation-workspace. Examples of a 6/6-SPS
Stewart manipulator are given to demonstrate the results.
Key
words: Stewart
manipulator Orientation-singularity locus Nonsingular void
Nonsingular orientation-workspace
CLC No: TP242.2
国家自然科学基金资助项目(50275129). Received
20041018, received in revised form 20050407
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