Orientation Singularity and Orientation Capability Analysis of Stewart Platform Based on Unit Quaternion
Based on unit quaternion to represent the platforms orientation, the orientation singularity and orientation capability of the Stewart parallel mechanism are researched, and the singularities caused by Euler angles to represent are avoided. The expression and locus of orientation singularity of the mechanism are expressed. It can be shown that there is a singular free void in the initial-orientation around the origin. It is denoted that the minimum inscribed sphere of the orientation singularity locus can be searched inside the free void, and the spheres radius is used to evaluate the orientation capability. Effects of geometric configuration of the mechanism and the position of the moving platform on the orientation capability are addressed.
Unit quaternion Stewart parallel mechanism Orientation singularity Orientation capability
Li Baokun Cao Yi Zhang Wenxiang Huang Zhen
School of Mechanical Engineering, Anhui University of Science and Technology, Huainan, Anhui 232001, School of Mechanical Engineering, Jiangnan University,Wuxi, Jiangsu 214122, China Robotics Research Center, Yanshan University, Qinhuangdao, Hebei 066004, China
国际会议
2009年中国控制与决策会议(2009 Chinese Control and Decision Conference)
广西桂林
英文
5735-5739
2009-06-17（万方平台首次上网日期，不代表论文的发表时间）