机械制造与自动化2024，Vol.53Issue(3)：195-198,214,5.DOI:10.19344/j.cnki.issn1671-5276.2024.03.042
Stewart型并联机器人的奇异对其运动精度的影响
Effect of Singularity on Motion Accuracy of Stewart Parallel Robot
摘要
Abstract
Taking 9-3 Stewart parallel robot as the research object,analyzes the motion accuracy of moving platform when mechanism is close to singular configuration.The determinant of velocity Jacobian matrix of the parallel robot is calculated to abtain the coordinates of singular points.The virtual prototype experiment is conducted to gain the relative error of the inverse solution and positive solution of the reference point of the moving platform.The reciprocal of the condition number of the rotating Jacobian matrix is used to measure the degree of the mechanism approaching singularity,and the mapping relationship between this degree and the above relative error is analyzed.The results show that when the index value is greater than 7.027x10-5,the relative error of the positive and negative solutions can be ignored,which provides a theoretical reference for the follow-up work such as singularity avoidance and path planning.关键词
并联机器人/正解/反解/运动精度/奇异位形/Jacobian矩阵Key words
parallel robot/positive solution/inverse solution/motion accuracy/singular configuration/Jacobian matrix分类
机械制造引用本文复制引用
陈垚,尤晶晶,叶鹏达,王澍声,黄宁宁..Stewart型并联机器人的奇异对其运动精度的影响[J].机械制造与自动化,2024,53(3):195-198,214,5.基金项目
国家自然科学基金项目(51405237) （51405237）
国家留学基金项目(201908320035) （201908320035）
江苏省高等学校大学生创新创业训练计划项目(202210298016Z) （202210298016Z）
