| Optimal Design of Stewart Platform Safety Mechanism |
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| 作者姓名： | Chen Hua Chen Weishan Liu Junkao |
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| 作者单位： | 哈尔滨工业大学机电工程学院，哈尔滨工业大学机电工程学院，哈尔滨工业大学机电工程学院 |
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| 摘 要： | 提出了基于连杆空间优化设计一种在整个杆长范围内可以随意运动的安全机构的思想。通过分析得出了 Stewart 平台型并联机构的 16 种极限状态,利用同伦法和奇异点判别条件对极限状态的奇异点进行了求解,得到连杆长度的最大值,并通过实例分析了机构在极限状态间运动时铰链转角和连杆间距离的变化情况。然后综合考虑各项约束条件,提出了安全机构检验算法。以极限状态的条件数均值最小为优化目标优化机构的所有结构参数,设计出具有较好的全局运动性能的安全机
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| 关 键 词： | 并联机构 安全机构 优化设计 Stewart平台 |
| 收稿时间： | 23 October 2006 |
| 修稿时间： | 2006-10-232007-03-07 |
Optimal Design of Stewart Platform Safety Mechanism |
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| Chen Hua Chen Weishan Liu Junkao.Optimal Design of Stewart Platform Safety Mechanism[J].Chinese Journal of Aeronautics,2007,20(4):370-377. |
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| Authors: | Chen Hua Chen Weishan Liu Junkao |
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| Institution: | School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | A safety mechanism capable of moving at will within the range of its whole link lengths is designed based on the link space. Sixteen extreme poses are obtained in a Stewart platform. The singular points of the extreme poses are solved by using homotopy method as well as the judgment condition of singular points, and thereby the maximum link lengths are achieved. The rotation angles of joints and the distances between two neighboring links are analyzed in a calculation example in which that the mechanism moves among the extreme poses is assumed. Then an algorithm to test the safety mechanism is presented taking the constraint conditions into account. A safety mechanism having optimal properties of global movement is worked out by optimizing all structural parameters through minimizing the average condition number of extreme poses. |
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| Keywords: | parallel manipulator safety mechanism optimal design Stewart platform |
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