Stewart平台的力工作空间初步分析

摘要

We first present the concept of the workspace of operation force of parallel manipulators based on the workspace of legs length limit. Some special situations of 6-3 Stewart platform are discussed and we get the corresponding analytical solutions to them. Numerical examples confirm these new results. For a general situation, it is too complex to get the analytical solution. It provide a reference for the design of workspace.%基于Stewart并联机器人杆长工作空间提出力工作空间的概念，对一类Stewart平台分几种情况进行讨论，得到相应的解析解，并有数值算例为证。对于更一般的讨论，问题将很复杂，已很难得到解析解。因此本文只是对这一问题的初步探讨, 为工作空间的设计提供一个有益的参考。