关键词: Stewart, 并联机构, 连杆干涉, 判别准则

Abstract: Interference between links is an important factor confining workspace of Stewart platform mechanism. A novel geometrical method identifying interference between links of Stewart platform mechanism is presented, which is based on several definitions, such as trace, mobile intersection point, fixed intersection point, close, cross, critical point, base point, etc. On the one hand, the intersection point of two links’ mutual perpendicular line with links themselves is identified; on the other hand, the length of the mutual perpendicular line and the diameters of the links are compared. This method can be put into practice by two steps: first, the location relationship among the mobile intersection point, critical intersection point and the cross base intersection point is determined; second, links’ collision can be judged according to the distance of the mutual perpendicular line. In short, the simple method can intuitionally recognize interference between links of Stewart platform mechanism.

Key words: between links, Identification method, Interference, Platform mechanism, Stewart