| Stewart 运动平台的雅可比矩阵条件数的研究 |
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| 引用本文： | 李维嘉.Stewart 运动平台的雅可比矩阵条件数的研究[J].华中科技大学学报(自然科学版),1997(11). |
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| 作者姓名： | 李维嘉 |
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| 作者单位： | 华中理工大学交通科学与工程学院 |
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| 摘 要： | 从运动学的观点出发，对Ｓｔｅｗａｒｔ平台的雅可比矩阵的条件数与结构尺寸之间的关系进行了分析，给出了机构的结构参数与雅可比矩阵条件数之间的无量纲化关系曲线．在此基础上，得出了益于降低条件数、提高机构的运动控制性能的设计参数．
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| 关 键 词： | Stewart平台 雅可比矩阵 条件数 设计 |
Study on the Condition Number of Jacobian Matrix of Stewart Platforms |
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| Li Weijia College of Traffic Sci. & Eng.,HUST,Wuhan ,China..Study on the Condition Number of Jacobian Matrix of Stewart Platforms[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,1997(11). |
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| Authors: | Li Weijia College of Traffic Sci & Eng HUST Wuhan China |
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| Institution: | Li Weijia College of Traffic Sci. & Eng.,HUST,Wuhan 430074,China. |
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| Abstract: | The relationship between design parameters of Stewart platforms and the condition number of Jacobian matrix is analyzed from the kinematic viewpoint. Non dimensionalized curves in terms of the condition number, the design parameters and the motion and orientation of the platform are given. The solution to keep the condition number at a low level is investigated. |
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| Keywords: | Stewart platform Jacobian matrix condition number design |
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