Gough-Stewart并联机构无奇异位置路径规划

摘要

奇异位形严重影响并联机器人机构的性能，有必要在获得机构奇异位形分布规律基础上进一步探讨机构的奇异规避问题。主要研究六自由度 Gough-Stewart并联机构的奇异轨迹几何性质和无奇异路径规划。构建机构位置奇异轨迹方程，并指出机构位于一系列动平面上的位置奇异轨迹均为具有明显几何性质的二次曲线。基于上述奇异轨迹几何性质，当给定起始点和目标点时，给出机构无奇异运动路径存在与否的一般性判别方法；若存在无奇异运动路径，进一步给出机构位于动平面上的无奇异路径规划具体实现方法；以数值实例验证了上述方法的有效性。研究成果对并联机器人机构的奇异规避问题研究具有重要的理论意义和实际参考价值。%Singular configuration seriously affects the performance of the parallel robotic mecha-nisms.It is essential to further investigate the singularity-avoidance problem on the basis of ob-taining the singularity distributing regularity of the mechanism.The geometric property of the singularity-locus and the singularity-free path planning of the Gough-Stewart parallel mechanism were explored.The position-singularity locus equation of the mechanism was constructed and the case that every singularity locus in the series of the moving plane was a quadratic curve with obvi-ous geometric property was pointed out.Based on the geometric property of the singularity locus, the general discriminating method for the presence and absence of the singularity-free motion path was represented when the starting point and the obj ect point were given.When the singularity-free motion path was existent,the implemented method for the singularity-free path was provid-ed.The validation of the aforementioned methods was tested and verified by applying numerical examples.The investigation has important theoretical significance and practical reference value for the exploration of the singularity-avoidance of the parallel robotic mechanisms.