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| 基于四元数的6-SPS并联机器人姿态奇异研究 | |
| 引用本文： | 李保坤,曹毅,黄真,张文祥,张凌云.基于四元数的6-SPS并联机器人姿态奇异研究[J].安徽理工大学学报(自然科学版),2006,26(4):41-45,66. |
| 作者姓名： | 李保坤 曹毅 黄真 张文祥 张凌云 |
| 作者单位： | 1. 安徽理工大学机械工程系,安徽,淮南,232001 2. 江南大学机械工程学院,江苏,无锡,214122 3. 燕山大学机械工程学院,河北,秦皇岛,066004 |
| 摘 要： | 基于四元数描述刚体的姿态,对6-SPS并联机器人姿态奇异做了研究,避免了欧拉角描述刚体姿态时的奇异性.推导出6-SPS并联机器人动平台处于给定位置时机构在三维空间中的姿态奇异轨迹解析表达式,并利用计算机给出其姿态奇异轨迹的三维可视化描述.得到在关于姿态参数的三维空间内的原点附近存在一个非奇异姿态空间,提出在此非奇异姿态空间内部寻找一个最小内切球,并以此球半径作为衡量机构在给定位置时的姿态能力的性能指标,最后研究了机构构形以及动平台位置对姿态能力的影响. |
| 关 键 词： | 四元数 并联机器人 姿态奇异 姿态奇异轨迹 姿态能力 |
| 文章编号： | 1672-1098（2006）04-0041-05 |
| 收稿时间： | 2006-04-07 |
| 修稿时间： | 2006-04-07 |
Orientation-Singularity Analysis of 6-SPS Parallel Manipulator Using Unit Quaternion |
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| LI Bao-kun,CAO Yi,HUANG Zhen,ZHANG Wen-xiang,ZHANG Ling-yun.Orientation-Singularity Analysis of 6-SPS Parallel Manipulator Using Unit Quaternion[J].Journal of Anhui University of Science and Technology:Natural Science,2006,26(4):41-45,66. | |
| Authors: | LI Bao-kun CAO Yi HUANG Zhen ZHANG Wen-xiang ZHANG Ling-yun |
| Institution: | 1. Dept. of Mechanical Engineering, Anhui University of Science and Technology,Huainan Auhui 232001, China ; 2. College of Mechanical Engineering,Southern Yangtze University,Wuxi Jiangsu 214122,China ; 3. College of Mechanical Engineering,Yanshan University, Qinghuangdao Hebei 066004,China |
| Abstract: | Based on the representation of unit quaternion to orientation of rigid body, the orientation-singularity is researched in the paper. Deduced is the singularity expression of 6-SPS parallel manipulator in the Euler parameter space at a certain position. Then the orientation-singularity loci is described by using computer. It is shown that the mechanisms have in home-orientation a singular free void in the Euler parameter space around the origin. It is denoted that the minimum inscribed sphere can be searched for inside the nonsingular orientation void, and the radius is used to measure the orientation capability. The paper addresses effects of geometry configuration of the manipulator and the position of the moving platform on the orientation capability. |
| Keywords: | unit quaternion parallel manipulator lorientation-singularity orientation-singularity loei orientation capability |
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