并联六自由度仿真平台完全可达空间研究

研究并联六自由度仿真平台完全可达空间。分析了动平台位姿改变时各液压缸位移的变化情况及其与完全可达空间的关系，在此基础上提出基于运动特征的完全可达空间快速搜索算法，该算法首先将搜索范围限制在可达空间外轮廓附近，并利用极角为零处液压缸位移变化特征快速找到外轮廓的搜索起点，大大缩小搜索范围，提高搜索效率，可快速得到动平台运动极限位置的包络面。以实验室平台为实例，利用该算法绘制出并联六自由度平台的完全可达空间图形。最后，仿真分析了平台完全可达空间与其结构参数间的关系，为平台的设计和优化提供参考。

Research on Full Reachable Workspace of the Parallel 6-DOF Platform

The full reachable workspace of the parallel 6-DOF simulating platform was researched.At first,Cylinders' changes when the position or poses of the upper plate were changed and the relations between the cylinder's changes and the full reachable workspace were analyzed.Based on the above analyses,a fast six-dimension searching algorithm based on the movements' characters was presented.In the algorithm,the searching is confined to the space which is close to the external contour of the full workspace and the searching start point of the external contour is quickly found by deducing the expressions of the cylinders' displacements when the polar angle is equal to zero,by using both of the above methods,the searching space is decreased,the searching efficiency is improved,and the enveloping surface of the upper plate's limit position is quickly searched out.Then take the 6-DOF platform in Zhejiang University for example,the full reachable workspace was searched out and plotted.At last,the relations between the full reachable workspace and the structure parameters were simulated,and the simulating results provided the references for the design of the platform.