湖南大学学报（自然科学版）2025，Vol.52Issue(10)：87-98,12.DOI:10.16339/j.cnki.hdxbzkb.2025209
Stewart平台斜棱柱虎克铰工作空间分析
Workspace Analysis of Oblique Prism Hooke Joint for Stewart Platform
摘要
Abstract
To address the interference problem of Hooke joint under the condition of large-scale motion of a Stewart platform,an oblique prism Hooke joint interference model is proposed.Firstly,considering the inclination angle parameter of the oblique prism,a parameterized model is established to describe the Hooke joint of the oblique prism.The mathematical description of the Hooke joint workspace under typical interference states is analyzed,and a quantitative evaluation index for the Hooke joint workspace is established.Secondly,the parameters of the joint base structure are normalized,and the relationship between the angle and size parameters of the oblique prism Hooke joint and the workspace is analyzed.Meanwhile,the design criteria for the oblique prism Hooke joint are established.Finally,a Stewart platform with 12 oblique prism Hooke joints is designed.The Hooke joint interference model is combined with the kinematic inverse solution of the Stewart platform,and the pose of the moving platform is mapped into the Hooke joint workspace for large-scale motion experiments.The experimental results show that the maximum rotation angle of the Hooke joint does not exceed the theoretical rotation limit of 0.3 degrees in the limit working conditions,which verifies the effectiveness of the oblique prism Hooke joint interference model in the application of obstacle avoidance of a Stewart platform.关键词
Stewart平台/工作空间分析/虎克铰/逆运动学/铰座干涉Key words
Stewart platform/workspace analysis/Hooke joint/inverse kinematics/joint interference分类
计算机与自动化引用本文复制引用
刘洋,向世鑫,江涛..Stewart平台斜棱柱虎克铰工作空间分析[J].湖南大学学报（自然科学版）,2025,52(10):87-98,12.基金项目
起重机械关键技术全国重点实验室开放基金项目(SKLCM2022-02),Open Fund of State Key Laboratory of Construction Machin-ery(SKLCM2022-02) （SKLCM2022-02）
湖南省自然科学基金资助项目(2025JJ50225),Natural Science Foundation of Hunan Province(2025JJ50225) （2025JJ50225）
国家留学基金资助项目(202406720053),Foundation of the China Scholarship Council(202406720053) （202406720053）
