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Stewart平台的工作空间求解可以转化为求解6个单开链子工作空间的交集,因此求得子空间的边界是工作空间求解的关键。为求解子空间边界,提出了有效包络面法。该方法应用单参数曲面族包络面理论,求解子空间的有效包络面;通过对有效包络面的再次包络获得完整的子空间边界;采用截平面法求解有效工作空间并通过算例验证了该方法的有效性。
The work space solution of the Stewart platform can be transformed into the intersection of six single-open chain work spaces, so finding the boundary of the subspace is the key to solve the work space. To solve the subspace boundary, an effective envelope method is proposed. The method solves the effective envelope of the subspace by using the single parametric surface family envelope theory. The complete subspace boundary is obtained by the re-envelope of the effective envelope. The effective workspace is solved by the cut-plane method. The validity of this method is verified.