摘要：Optimum design is a key approach to make full use of potential advantages of a parallel manipulator. The optimum design of multi-parameter parallel manipulators（more than three design parameters）, such as stewart manipulator, relies on analysis based and algorithm based optimum design methods, which fall to be accurate or intuitive. To solve this problem and achieve both accurate and intuition, atlas based optimum design of a general stewart parallel manipulator is established, with rational selection of design parameters. Based on the defined spherical usable workspace（SUW）, primary kinematic performance indices of the stewart manipulator involving workspace and condition number are introduced and analyzed. Then, corresponding performance atlases are drawn with the established non-dimensional design space, and impact of joint distribution angles on the manipulator performance is analyzed and illustrated. At last, an example on atlas based optimum design of the stewart manipulator is accomplished to illustrate the optimum design process, considering the end-effector posture. Deduced atlases can be flexibly applied to both quantitative and qualitative analysis to get the desired optimal design for the stewart manipulator with respect to related performance requirements. Besides, the established optimum design method can be further applied to other multi-parameter parallel manipulators.

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：各向同性是反映六维力传感器结构性能优劣的重要指标,各向同性性能分析是stewart结构六维力传感器结构设计中的关键性问题。为了获得最优的各向同性性能,应用螺旋理论建立stewart结构六维力传感器的静态数学模型,系统研究传感器的各向同性性能指标。利用数学解析的方法,对传感器的正向和逆向各向同性进行分析,推导出同时满足正向力和力矩各向同性时结构参数之间的关系表达式,证明了该类传感器不能同时满足逆向力和力矩各向同性,并得到了各向同性度性能指标之间存在的制约关系。权衡各向同性的四个性能指标,通过求解综合性能目标函数的极值,得到了综合性能指标的最优值,并推导出综合性能指标最优时结构参数之间所满足的关系表达式。研究内容为stewart结构六维力传感器的结构性能优劣评价及结构优化设计奠定了基础。

摘要：为了满足工业机器人用6维力传感器高精度、高刚度、大承载的性能要求,提出了一种局部去耦的设计方法,对重载stewart 6维力传感器进行兼顾精度与刚度的综合优化.首先,通过结构参数优化,获取最优参数;其次,结合球铰去耦样机和无去耦措施样机的实验数据,分析得出耦合因素对传感器各支路输出特性的影响;再次,对传感器进行局部去耦设计,并通过有限元仿真加以验证.最后,样机实验结果显示相较于传统结构stewart 6维力传感器,局部去耦的重载stewart 6维力传感器除同样保留了较高的测试精度之外,在刚度方面也有大幅提升,可满足设计需求.

摘要：What is Old Age?Have you learned autumn yet?For I have not It is a harder language than Spring and Summer,Richer in connotations,with more color More resonance and more *** its more positive phrasing.I am resolved At length to master *** main difficulty Is that it makes you forget language you knew Before your thought grows up to the novel idium.,If that,indeed,ever takes place at all.

摘要：This paper presents the isotropic optimization of a stewart-type six-component force sensor. First,the static model of the sensor is built by the screw theory and the forward isotropy indexes and the inverse isotropy indexes are further presented. Second,a comprehensive evaluation function is established to evaluate the isotropic performance of the sensor. By compromising all the isotropy indexes and solving the extreme value of the function,the sensor optimization process is completed and an optimal solution of a set of sensor structure parameters is obtained. Finally,the design of the components and the assembly of the prototype are established by 3D modeling software Pro-E. The verification of the isotropic performance of the sensor is conducted by the finite element analysis software ANSYS. The results obtained by our research can provide useful reference to the isotropic performance evaluation and structure design of the stewart-type six-component force sensor.

摘要：以音圈电机作为作动器,采用"Cubic"构型的stewart平台设计主动隔振系统。这种stewart平台的各杆之间线性无关,耦合作用可以忽略不计,采用六路相同的控制方法对stewart主动隔振平台进行分散控制,简化了控制系统,提高了系统的可靠性。通过分析设计了双层结构的单主动杆形式,并对其采用"前馈—反馈"的复合控制方法,并用六个单主动杆构成stewart平台。对整个系统进行Adams/View和Matlab/Simulink的联合仿真,分析仿真结果可以看到所设计的主动控制系统具有良好的隔振效果。

摘要：针对stewart并联机构,对其ADAMS和MATLAB/Simulink联合仿真进行理论剖析,并与其它设计方案进行比较,得出了联合仿真的优点。针对6-UCU型stewart,分别用ADAMS运动学模型和ADAMS动力学模型与对称阀控制非对称缸的Simulink控制模型进行联合仿真,得出在关节空间控制中基于ADAMS动力学模型比基于ADAMS运动学模型仿真结果更优的结论。

摘要：飞行模拟器是一种训练飞行员的地面模拟设备,能够逼真地再现真实环境中飞机的飞行状态,具有精度高、承载能力大、安全可靠、使用灵活等优点。飞行模拟器通常采用六自由度stewart平台,其运动特性是影响本身性能的关键指标。首先建立六自由度stewart平台的参数化模型,设计其运动轨迹并进行试验研究,分析多种结构参数并确定平台的基本尺寸;其次根据基本尺寸建立完整的三维模型,并分析其空间运动状态;最后对其进行运动学、动力学仿真分析并研究整体的性能。六条支腿的伸缩量轨迹点和五次多项式拟合曲线基本重合,其伸缩运动符合五次多项式规律,保证了速度和加速度不发生较大的突变,从而确保了上运动平台的稳定性。

摘要：您为什么对于帽饰设计如此感兴趣呢?事实上我修的是装饰艺术。毕业后为Slephen Jones(帽子大师)工作,在此期间接触了很多关于帽饰和时尚的东西,这给了我一个了解时尚的环境。对我而言,这就像是打开了时尚界的大门,我见到了许多时尚设计师,比如时装设计师Adam Jones,我们现在是很好的朋友并且还一起工作。能够遇到这些人并与之共事可以说是我人生之大幸。这就像是一段美妙的旅行,不断探索你真正热爱的事物,代价是你得付出相应的时间。我本来就一直对时尚很感兴趣。