基于单位四元数的stewart机构姿态工作空间研究-机器人.pdfVIP

30 4 ROBOT Vol.30, No.4 2008 7 July, 2008 1002-0446(2008)04-0353-06 Stewart 1 2 3 1 1. 232001 2. 214122 3. 066004 Stewart , Stewart TP242.2 A Orientation Workspace Analysis of Stewart Platform Based on Unit Quaternion 1 2 3 1 LI Bao-kun , CAO Yi , HUANG Zhen , ZHANG Wen-xiang (1. School of Mechanical Engineering, Anhui University of Science and Technology , Huainan 232001, China; 2. School of Mechanical Engineering, Jiangnan University, Wuxi 214122, China; 3. Robotics Research Center, Yanshan University, Qinhuangdao 066004, China) Abstract: Unit quaternion is used to represent the orientation of rigid body, orientation-singularity expression of the Stewart platform at a given position is deduced, and the singularities caused by Euler angles are avoided. The concept and algorithm for nonsingular orientation-workspace of the platform at a certain position are proposed. The minimum inscribed sphere of the boundary surface of nonsingular orientation-workspace is represented as the practical orientation- workspace, and the sphere radius is used as the performance index of the platform’s practical orientation-capability at the given position. Specific structural parameters of the platform are given, and the nonsingular orientation-workspace of the platform at a certa