西安电子科技大学学报（自然科学版）2001，Vol.28Issue(2)：202-206,5.
Stewart平台的运动奇异性与力奇异性研究
Research on the kinematic singularity and the force singularity of the Stewart platform
摘要
Abstract
When the Stewart platform moves, the kinematic singularity andthe force singularity may accur. By analyzing the Jacobian matrix of the kinematic equation and the Jacobina matrix of the force equation, this paper shows the relationship between the elements, the determinants, and the condition numbers of the two Jacobian matrixes. Meanwhile the two kinds of singularity manifolds are also compared. The analysis and an example indicate that the kinematic singularity and the force singularity occur simultaneously.关键词
平行机械手/Stewart平台/运动奇异性/力奇异性分类
信息技术与安全科学引用本文复制引用
..Stewart平台的运动奇异性与力奇异性研究[J].西安电子科技大学学报（自然科学版）,2001,28(2):202-206,5.基金项目
国家自然科学基金资助项目(59675040) （59675040）
