A FAMILY OF STEWART PLATFORMS WITH OPTIMAL DEXTERITY

被引：105

作者：

PITTENS, KH

PODHORODESKI, RP

机构：

[1] Adaptive Robotic Telesystems LABoratory (ARTLAB), Department of Mechanical Engineering, University of Victoria, Victoria, British Columbia

来源：

JOURNAL OF ROBOTIC SYSTEMS | 1993年 / 10卷 / 04期

关键词：

D O I：

10.1002/rob.4620100405

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Stewart platform configurations (architectures and poses) optimizing local dexterity are investigated. The condition number of the Jacobian matrix is used to quantify the dexterity of the manipulator. For a platform-centered Jacobian reference location and a given characteristic length for scaling purposes, a two-parameter family of optimal configurations is shown to exist. Two suitable architectural parameters defining the family are identified and properties of the optimal configurations are discussed. The optimization results are shown to be easily extended for other Jacobian reference locations and for other singular value-based local dexterity measures. It is suggested that the existence of a two-parameter family of optimal local configurations could be exploited to aid in the resolution of optimal architectures for global measures.

引用

页码：463 / 479

页数：17

共 17 条

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