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《JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY》 1997-11
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Study on the Condition Number of Jacobian Matrix of Stewart Platforms

Li Weijia College of Traffic Sci. & Eng., HUST, Wuhan 430074, China.  
The relationship between design parameters of Stewart platforms and the condition number of Jacobian matrix is analyzed from the kinematic viewpoint. Non dimensionalized curves in terms of the condition number, the design parameters and the motion and orientation of the platform are given. The solution to keep the condition number at a low level is investigated.
【CateGory Index】: TM113.2
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【References】
Chinese Journal Full-text Database 8 Hits
1 ZHAO Hong-chao;ZHANG Jing-xu;YANG Fei;Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences;;Control Simulation and Accuracy Mapping of Stewart Platform[J];计算机仿真;2015-11
2 FAN Yong;WANG Zheng-can;WANG Hong-bin;SHI Yong-jian;College of Mechanical Engineering of Tianjin University of Science and Technology;;Optimizational design and simulation of high-speed parallel manipulator for seed separator[J];食品与机械;2015-03
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8 Li Weijia (Huazhong University of Science and Technology,Wuhan,China);Study on the Maximum Working Capability of Stewart Platforms[J];机械设计与研究;1999-01
【Co-references】
Chinese Journal Full-text Database 10 Hits
1 ZHANG Jing-xu;AN Qi-chang;LI Jian-feng;YANG Fei;Changchun Institute of Optics Fine Mechanics and Physics,Chinese Academy of Sciences;University of Chinese Academy of Sciences;;Third mirror Stewart platform of TMT based on mechanism condition number[J];光学精密工程;2014-04
2 WANG Fu-guo;YANG Fei;ZHAO Hong-chao;SU Yan-qin;CHEN Bao-gang;Changchun Institute of Optics,Fine Mechanics and Physics, Chinese Academy of Sciences;University of Chinese Academy of Sciences;;Progress in TMT M3 system[J];中国光学;2013-05
3 CHU Jin-qian;XU Fang;Shenyang Institute of automation,Chinese Academy of Sciences University,State Key Laboratory of Robot ics;Graduate School of Chinese Academy of Sciences;;Based on the Solidworks and Matlab Palletizing Robot Dynamics Simulation[J];组合机床与自动化加工技术;2013-09
4 Zhao Hongchao1,2,Zhang Jingxu1,Yu Xiaobo1,Chen Baogang1,Yang Fei1(1.Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China; 2.University of Chinese Academy of Sciences,Beijing 100049,China);Design and optimization of Stewart platform in TMT tertiary mirror system[J];红外与激光工程;2012-12
5 ZHANG Jing-xu(Changchun Institute of Optics,Fine Mechanics and Physics, Chinese Academy of Sciences,Changchun 130033,China);Overview of structure technologies of large aperture ground-based telescopes[J];中国光学;2012-04
6 WANG Huai,DAI Shuang,ZHANG Jing-xu(Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences, Changchun 130033,China);Azimuth shafting bearing structure in a large Alt-azimuth telescope[J];光学精密工程;2012-07
7 ZHANG Li-min,ZHANG Bin,YANG Fei,MING Ming (Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences, Changchun 130033,China);Design and test of force actuator in active optical system[J];光学精密工程;2012-01
8 ZHAO Lei1,2,LIU Wei1,GONG Yan2(1.Key Laboratory for Precision and Non-traditional Machining Technology of the Ministry of Education,Dalian University of Technology,Dalian 116023,China; 2.State Key Laboratory of Applied Optics,Changchun Institute of Optics, Fine Mechanics and Physics,Chinese Academy of Sciences,Changchun 130033,China);Pre-stressed six-axis force/torque sensor based on Stewart platform[J];光学精密工程;2011-12
9 MI Shi-bin1,JIN Zhen-lin1,2(1.College of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China;2.State Key Laboratory of Mechanical System and Vibration,Shanghai Jiaotong University,Shanghai 200240,China);Seeking positional forward solution of parallel mechanism based on Jacobin matrix[J];燕山大学学报;2011-05
10 SHI Lei1,2,XU Ming-heng1,DENG Wei-xin1,LIU Bo2(1.School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China;2.School of Manufacturing Science and Engineering,Southwest University of Science and Technology,Mianyang 621010,China);Workspace calculation for PowerCube modular robots[J];中国工程机械学报;2011-01
【Secondary References】
Chinese Journal Full-text Database 9 Hits
1 CHEN Ping;ZHANG Hong-li;College of Electrical Engineering,Xinjiang University;;Optimal Control of Motion Stability of Parallel Robot[J];计算机仿真;2018-01
2 YOU Jingjing;FU Zhouzhou;WU Hongtao;LI Chenggang;ZHOU Wei;College of Mechanical and Electronical Engineering,Nanjing Forestry University;College of Automobile and Traffic Engineering,Nanjing Forestry University;College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics;Jiangsu Key Laboratory of Precision and Micro-manufacturing Technology;;Forward Kinematics of General 12-6 Stewart Redundant Parallel Mechanism[J];农业机械学报;2017-12
3 JIANG Haibo;ZHAO Hongchao;YANG Fei;Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences;;Structure Design and Analysis for Cradle of GSSMP[J];长春理工大学学报(自然科学版);2017-04
4 LI Zhigen;CAO Xiaotao;WANG Dong;YANG Weifan;ZHANG Bowei;Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences;University of the Chinese Academy of Sciences;;Optimization of Calibration Method for the Secondary Mirror Fine Tuning Stewart Mechanism of Optoelectronic Telescope[J];半导体光电;2017-03
5 WANG Wei;WANG Bin;SUN Jun-lan;Department of Mechanical Engineering,Yancheng Institute of Technology;;Based on Two Layers of Cross Mapping Large Data Fusion Algorithm Robustness[J];计算机仿真;2016-10
6 GU Ying-ying;HUO Qi;LI Ang;LI Da-wei;XU Zhen-bang;LI Yi;WU Qing-wen;Innovation Lab of Space Robot System Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences;;Six DOF platform applied in ground test of optical remote sensor alleviation margin in satellite micro-vibration environment[J];光学精密工程;2016-09
7 Gan Xinji;Jia Yuxuan;Xie Zedong;Mechanical Engineering College of Beihua University;Engineering Technology College of Jilin Agricultural University;;Design of 3-PSP Spatial Parallel Manipulator Based on a Novel Semi-open Groove-type Spherical Joint[J];北华大学学报(自然科学版);2016-04
8 HAN Chun-yang;XU Zhen-bang;WU Qing-wen;HE Shuai;YU yang;Innovation Lab of Space Robot System,Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Sciences;;Optimization design and error distribution for secondary mirror adjusting mechanism of large optical payload[J];光学精密工程;2016-05
9 HAN Chunyang;XU Zhenbang;WU Qingwen;QIN Chao;XIA Mingyi;Innovation Lab of Space Robot System,Changchun Institute of Optics,Fine Mechanics and Physics,Chinese Academy of Science;;Multi-objective Optimization Design for Secondary Mirror Adjusting Mechanism in Space Optical Payload[J];载人航天;2016-01
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