CAJ | 학술논문

以单位四元数为姿态参数，研究Stewart并联机构位于给定位置的姿态奇异并进一步探讨机构的无奇异姿态运动规划方法。基于机构的雅可比矩阵，构建机构给定位置的以单位四元数表征的姿态奇异轨迹的一般符号解析表达式。利用四元代数理论构建刚体姿态运动学方程和时间最优姿态轨迹方程；通过分析机构姿态奇异轨迹分布并利用刚体运动的时间最优姿态轨迹方程，研究机构无奇异时间最优的姿态运动的规划方法。研究成果进一步丰富了Stewart并联机构的奇异规避理论。
이단위사원수위자태삼수，연구Stewart병련궤구위우급정위치적자태기이병진일보탐토궤구적무기이자태운동규화방법。기우궤구적아가비구진，구건궤구급정위치적이단위사원수표정적자태기이궤적적일반부호해석표체식。이용사원대수이론구건강체자태운동학방정화시간최우자태궤적방정；통과분석궤구자태기이궤적분포병이용강체운동적시간최우자태궤적방정，연구궤구무기이시간최우적자태운동적규화방법。연구성과진일보봉부료Stewart병련궤구적기이규피이론。
By using the unit quaternion as the orientation parameters, the orientation-singularity for a given po-sition was studied and the method of the orientation-singularity -free motion planning was further explored. Based on the Jacobian matrix of the mechanism, a general symbolic analytical expression describing the orienta-tion-singularity loci based on the quaternion representation for a given position was derived. The orientation ki-nematic equation and the time optimal orientation trajectory of a rigid body were constructed by using the quater-nion algebra theory, respectively.After analyzing the orientation-singularity locus and using the time optimal o-rientation trajectory of a rigid body, the method of time optimal orientation motion planning of the mechanism was explored.The research achievement enriches the singularity-avoidance of the Stewart parallel mechanism.