Kinematic study of Stewart platform based on dual quaternion method
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摘要: 作为一种多自由度并联机构,Stewart平台在工业自动化、飞行模拟及医疗设备等领域具有广阔应用前景。研究Stewart平台的运动学特性,并提供数学模型和解决方法,可以实现对其运动和位置的准确控制。基于6-UPS型Stewart并联机器人平台,引入了对偶四元数的概念,探讨了Stewart平台的运动学特性,提出了一种高效的并联机器人运动学求解算法。研究结果表明,在描述并联机器人的运动学中,对偶四元数法具有更简洁的表示形式和更少的用来表示刚体位姿的未知数个数,具有明显优势。Abstract: The Stewart platform, as a multi-degree-of-freedom parallel mechanism, is promising for a wide range of applications in industrial automation, flight simulation, and medical devices. Studying the kinematic characteristics of the Stewart platform and providing mathematical models and solution methods can achieve accurate control of its motion and position. In this paper, based on the 6-UPS-type Stewart parallel robot platform, the concept of dual quaternion is introduced, the kinematic properties of the Stewart platform are explored, and an efficient solution algorithm for parallel robot kinematics is proposed. The results show that in describing the kinematics of parallel robots, the dual quaternion method has a clear advantage with a more concise representation and fewer numbers of unknowns used to represent the rigid-body poses.
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Key words:
- Stewart platform /
- parallel robot /
- kinematic /
- dual quaternion
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