高技术通讯（英文版）2004，Vol.10Issue(1)：66-69,4.
The Synthesis of a Stewart Platform for a Specific Workspace with a Genetic Algorithm
The Synthesis of a Stewart Platform for a Specific Workspace with a Genetic Algorithm
Chen Xuesheng(陈学生) 1Chen Zaili 1Xie Tiao1
作者信息
- 1. Mechanism Electronic Engineering Specialty, Harbin Institute of Technology, Harbin 150001, P.R.China
- 折叠
摘要
Abstract
The synthesis problem of a 6-SPS Stewart platform with semi-regular hexagons is studied in this paper. We present a genetic algorithm approach to synthesize a Stewart platform whose workspace must include a desired workspace with orienting capabilities in a given 3D region. Based on the observation that the constant orientation workspace gets smaller as the given orientations increase, a simple method is presented to describe the workspace with orienting capabilities, which need only search the constant orientation workspaces with the eight sets of extremal orientations of given 3D region and use their common part.To verify the method, a numerical example is given. The GA is used to optimize architectural parameters and obtain a compact manipulator. The method is applied to synthesize a Stewart platform whose workspace must include a prescribed cylinder with orienting capabilities.关键词
parallel manipulator/mechanism synthesis/workspace/genetic algorithmKey words
parallel manipulator/mechanism synthesis/workspace/genetic algorithm分类
信息技术与安全科学引用本文复制引用
Chen Xuesheng(陈学生),Chen Zaili,Xie Tiao..The Synthesis of a Stewart Platform for a Specific Workspace with a Genetic Algorithm[J].高技术通讯（英文版）,2004,10(1):66-69,4.
