| 引用本文: | 何景峰,李保平,杨宏斌,韩俊伟.Gough-Stewart机构Hunt奇异位形的判定[J].哈尔滨工业大学学报,2011,43(1):79.DOI:10.11918/j.issn.0367-6234.2011.01.016 |
| HE Jing-feng,LI Bao-ping,YANG Hong-bin,HAN Jun-wei.Hunt singularity determination for Gough-Stewart platform[J].Journal of Harbin Institute of Technology,2011,43(1):79.DOI:10.11918/j.issn.0367-6234.2011.01.016 |
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| 摘要: |
| 对Gough-Stewart机构的结构参数和支腿长度与机构的奇异性关系进行研究。针对3-3、6-3、6-6 Gough-Stewart机构发生Hunt奇异时的位形特点,导出了发生Hunt奇异时结构参数和支腿长度所需满足的关系式。将该关系式作为一个判定公式,判断给定几何结构参数和支腿长度的Gough-Stewart机构是否存在或靠近Hunt奇异位形,并利用两个实验验证了判定方法的有效性。该公式简洁,非常适合于工程应用,为并联机构的工程设计提供了一种简便直观的Hunt奇异性判定方法。 |
| 关键词: Hunt奇异 Gough-Stewart机构 奇异性判定 |
| DOI：10.11918/j.issn.0367-6234.2011.01.016 |
| 分类号:TP242.2 |
| 基金项目:哈尔滨工业大学优秀青年教师培养计划资助(HITQNJS.2009.010) |
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| Hunt singularity determination for Gough-Stewart platform |
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HE Jing-feng1, LI Bao-ping2, YANG Hong-bin2, HAN Jun-wei1
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1.School of Mechatronics Engineering,Harbin Institute of Technology,150001 Harbin,China;2.China north Optical-Electrical Technology Co. ,Ltd. 100176 Beijing,China)
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| Abstract: |
| Geometry parameters and lengths of legs often have close relations with the singularity of a Gough-Stewart platform. When these parameters are improperly selected,the platform may have hunt singularities. The relations among the geometrical parameters and the leg lengths when in hunt singularity for 3-3、6-3、 6-6 Gough-Stewart are derived according to their geometrical constrains. The obtained relations can be used as a geometrical criterions,for a Gough-Stewart platform with given geometrical parameters,to determine if the mechanism may have or close to Hunt singularity in its workspace. Two experiments are performed,which validates the hunt singularity criterions. |
| Key words: Hunt singularity Gough-Stewart platform singularity determination. |
