Stewart平台局部灵活度的解析研究

本文详细分析了Stewart平台的输入、输出速度，误差，力（力矩）与平台灵活度指标间的关系。对平台初始位姿时的雅可比矩阵进行了推导，用解析的方式求出它的奇异值。由此构造了Stewart平台最小奇异值、条件数、可操作性三种常用的局部灵活度评价指标，并对其进行解析研究，得到Stewart平台的这些局部灵活度与其结构尺寸间的解析关系，为Stewart平台性能指标的评价及其尺度综合提供了一种较好的依据。

Analytic study of local dexterity for stewart platform

In this paper,the relationship between input,output velocity,error,force (torque) of the Stewart platform and dexterity index was analyzed in detail.The Jacobian matrix of initial pose for Stewart platform was addressed,and the matrix's singular values were obtained by analytic method.Based on these singular values,three local dexterity index,minimum singular values,condition number and manipulator index in wide use were made.By analytic study the analytic relationship between the three-evaluation index for local dexterity and the frame dimension of platform was achived respectively.Results provide with a better method for evaluation of performance index,and the relationship will be useful to the dimension synthesis of framework for Stewart platform as well.