CAJ | 학술논문

奇异位形严重影响Gough‐Stewart并联机构的性能。有必要得到机构无奇异工作空间的分布，使机构在工作过程中避免出现奇异位形。基于机构的雅可比矩阵，得到机构位于固定位置时的姿态奇异轨迹表达式。利用机构位置反解建立机构的约束姿态空间求解方法。综合考虑机构奇异位形影响，进一步得到机构无奇异姿态空间。将无奇异姿态空间边界的最小内切球作为衡量机构实际无奇异姿态空间大小的性能参数，称之为实际姿态能力。定义约束位置空间内各个位置点的平均实际姿态能力为全局姿态能力，并研究机构动、定平台形状对全局姿态能力大小的影响情况。研究进一步丰富了并联机构工作空间求解理论，提出的全局姿态能力这一新的性能指标对机构的结构参数优化亦具有重要的参考价值。
기이위형엄중영향Gough‐Stewart병련궤구적성능。유필요득도궤구무기이공작공간적분포，사궤구재공작과정중피면출현기이위형。기우궤구적아가비구진，득도궤구위우고정위치시적자태기이궤적표체식。이용궤구위치반해건립궤구적약속자태공간구해방법。종합고필궤구기이위형영향，진일보득도궤구무기이자태공간。장무기이자태공간변계적최소내절구작위형량궤구실제무기이자태공간대소적성능삼수，칭지위실제자태능력。정의약속위치공간내각개위치점적평균실제자태능력위전국자태능력，병연구궤구동、정평태형상대전국자태능력대소적영향정황。연구진일보봉부료병련궤구공작공간구해이론，제출적전국자태능력저일신적성능지표대궤구적결구삼수우화역구유중요적삼고개치。
Singular configuration seriously affects the performance of the Gough‐Stewart parallel mechanism .It is necessary to obtain the distributing chart of the singularity‐free workspace of the parallel mechanism ,w hich can guarantee the mechanism to avoid the singularities .Based on the Jacobian matrix ,the expression for representing the oriantaion‐singularity locus for a given position was constructed .The method for the constraint orientation workspace determination was established by using the inverse displacement analysis .The orientation singularity‐free workspace was obtained by synthetically considering the influence of the singularities of the mechanism .The minimal inscribed sphere of the orientation singularity‐free workspace boundary was called the practical orientation‐capability which was used as the performance index of the practical orienta‐tion‐singularity‐free size .The average practical orientation‐capability of the all positions inside the position‐workspace was defined as the global orientation‐capability(GOC) ,and then the influ‐ence of the moving platform's shape and fixed platform's shape on the GOC was studied .The ex‐ploration further expands the workspace determination theory of the parallel mechanisms ,and the proposed novel performance index called the global orientation capability has important reference value for the structural parameter optimization .