Journal of System Simulation
Abstract
Abstract: Based on the structural singularity and configuration singularity of parallel mechanism, a safety mechanism design scheme of the Stewart platform is proposed to improve the workspace efficiency and engineering practicability. Taking the Stewart platform without any particularity as the research object, and considering the singular constraints of the structure, a dexterity index is proposed to achieve the optimization of the structural parameters. Analyzing and constructing the kinematics model of the Stewart platform, analyzing the singularities of the configuration bifurcations of 16 typical extreme poses, a secure workspace verification algorithm is proposed to make the whole workspace free of singularity. The simulation results show that a safety Stewart platform mechanism with good kinematics performance can be designed efficiently by the optimal configuration design method.
Recommended Citation
Fan, Xuwei; Yang, Lili; Yu, Cheng; Zhou, Xiaoning; and Zhang, Yexin
(2020)
"Research on Optimal Configuration Design Method of Stewart Platform,"
Journal of System Simulation: Vol. 32:
Iss.
10, Article 16.
DOI: 10.16182/j.issn1004731x.joss.20-FZ0296
Available at:
https://dc-china-simulation.researchcommons.org/journal/vol32/iss10/16
First Page
1981
Revised Date
2020-06-03
DOI Link
https://doi.org/10.16182/j.issn1004731x.joss.20-FZ0296
Last Page
1988
CLC
TP391.9
Recommended Citation
Fan Xuwei, Yang Lili, Cheng Yu, Zhou Xiaoning, Zhang Yexin. Research on Optimal Configuration Design Method of Stewart Platform[J]. Journal of System Simulation, 2020, 32(10): 1981-1988.
DOI
10.16182/j.issn1004731x.joss.20-FZ0296
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