应用螺旋理论进行Stewart平台机构的静力学计算

摘要

The paper applies screw theory to Stewart——a kind of common parallel robot structure static problem analysis and calculation. This method has been adopted in six degrees of freedom platform developed by us. The result shows that the procedures are concise.%应用螺旋理论对并联机器人中常用的一种结构形式—Stewart平台机构进行了静力分析计算，并对我校的一个六自由度试验平台进行了校核，结果表明分析过程简单明了、运算方便.