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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2006, Vol. 27 ›› Issue (5): 979-984.

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Study on Vertex Space of Stewart Platform

YUAN Li-peng, ZHAO Ke-ding, XU Hong-guang   

  1. School of Mechatronic Engineering, Harbin Institute of Technology, Harbin 150001, China
  • Received:2005-04-14 Revised:2005-10-08 Online:2006-10-25 Published:2006-10-25

Abstract: The analysis is made on the relationship between the workspace and the dimensional parameters of a hydraulic 6-DOF parallel manipulator. The concept of vertex space on 6-6 Stewart platform is introduced. By the vertex space theory, the expression between the workspace and the dimensional parameters of a 6-DOF parallel manipulator is built up. The study makes it possible to provide reasonable structural parameters directly through calculating the workspace without a large quantity of checking. It not only proves the reasonableness of the 6-DOF parallel manipulator used in practice by simulation but also constructs the reachable position workspace of Stewart platform by the vertex space theory. This method supplies theoretical reference for reasonable selection of structural parameters for Stewart platform and can give the boundary of its workspace. It also seems to open up a feasible method to analyze and synthesize the workspace of parallel manipulator.

Key words: industrial robot technology, workspace, vertex space, parallel manipulator, Stewart platform

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