摘要：The kinematic design issue of Gough-Stewart platforms is investigated. Based upon a full understanding of the geometrical characteristics of workspace boundary, a spherically-shaped prescribed workspace having a given orientation capability is defined for the synthesis of a well behaved workspace. Two performance measures are presented, i.e. the local dexterity and workspace radius ratio. The dimensions of the platform are determined with a prior knowledge of how the design parameters affect the dexterity and workspace radius ratio, resulting in an optimal design in terms of these performance indices. An example of application to the kinematic design of a hexapod machine tool is given to illustrate the effectiveness of this approach.

摘要：随着计算机的发展,仿真逐步成为当今重要研究工具,它为开发者提供强大的可视化功能。仿真技术也在机器人领域中发挥非常重要的作用,可用于运动学和动力学分析,离线编程,控制算法设计,机器人机械结构设计,机器人工作单元和生产线设计等。Matlab是目前应用最广泛的用于系统建模和仿真的开发平台。本文以一个三自由度机器人作为示例,在MATLAB/Simulink环境中进行建模和仿真分析,重点介绍了Matlab里有四类仿真工具的功能和特点,最后进行了对比分析。