中国机械工程2025，Vol.36Issue(9)：1951-1960,1967,11.DOI:10.3969/j.issn.1004-132X.2025.09.006
一种运动可解耦的Stewart型并联机构的正运动学及奇异性
Forward Kinematics and Singularity of Kinematically Decoupled Stewart-type Parallel Mechanisms
摘要
Abstract
The forward kinematics equation of the six-degree-of-freedom parallel mechanisms was nonlinear and strongly coupled,and generally did not have a symbolic positive solution,which was not con-ducive to the real-time feedback control of the robots.Thus,a"7-4"Stewart-type parallel mechanism was designed with weak coupling in structures but decoupled in motions.The forward kinematics equation and link length coordination equation were solved analytically,and the singularity research was carried out.Firstly,based on the"2-1"kinematic links,a six-degree-of-freedom"7-4"Stewart-type parallel mecha-nism was synthesized,and the structural coupling characteristics of the mechanisms were analyzed based on the azimuth feature set theory.Secondly,based on 13 compatible equations and the theory of tetrahedral geometry,an analytical algorithm for solving the forward kinematics equation was proposed.At the same time,it was proved that the number of real solutions under general configuration was 8(they were sym-metrical about the same plane).Then,according to the geometric constraint relationship between the mov-ing ball hinges,the link length coordination equation was constructed.It is found that the equation also has a symbolic solution.The Jacobian matrix of the mechanisms was derived,and various singular types were analyzed.Finally,the internal relationship between the forward kinematics and singularity of the parallel mechanisms was analyzed.关键词
并联机构/正运动学/型综合/奇异性/运动解耦Key words
parallel mechanism/forward kinematics/type synthesis/singularity/kinematically de-coupled分类
机械制造引用本文复制引用
黄宁宁,尤晶晶,叶鹏达,沈惠平,李成刚,吴洪涛..一种运动可解耦的Stewart型并联机构的正运动学及奇异性[J].中国机械工程,2025,36(9):1951-1960,1967,11.基金项目
国家自然科学基金(51405237) （51405237）
高端装备机械传动全国重点实验室开放基金(SKLMT-MSKFKT-202330) （SKLMT-MSKFKT-202330）
