Kinematic principle and geometrical condition of general-linear-complex special configuration of parallel manipulators

被引：53

作者：

Huang, Z ^{[1
]}

Zhao, YS ^{[1
]}

Wang, J ^{[1
]}

Yu, JJ ^{[1
]}

机构：

[1] Yanshan Univ, Inst Engn Mech, Qinhuangdao 066004, Peoples R China

来源：

MECHANISM AND MACHINE THEORY | 1999年 / 34卷 / 08期

基金：

中国国家自然科学基金;

关键词：

D O I：

10.1016/S0094-114X(98)00070-6

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

It is complicated to analyze the special configuration (SC) of the parallel manipulator, especially the general-linear complex-SC (GLCSC). This paper studies the kinematic principle and geometrical condition for the GLCSC. They are significant for understanding and searching this kind of SC. An alternative discriminant matrix D of the SC is presented at first. Then the unwanted screw motion is derived when the mechanism is singular. The kinematic principle and geometrical condition for GLCSC are revealed, and proved by some numerical examples. This method is very effective for typical 3/3- and 3/6-SPT parallel mechanisms. (C) 1998 Elsevier Science Ltd. All rights reserved.

引用

页码：1171 / 1186

页数：16

共 13 条

[1]

BALL RS, 1900, THEORY SCREW

[2] Singularity analysis of platform-type multi-loop spatial mechanisms [J].

Basu, D ;

Ghosal, A .

MECHANISM AND MACHINE THEORY, 1997, 32 (03) :375-389

[3] A STEWART PLATFORM-BASED MANIPULATOR - GENERAL-THEORY AND PRACTICAL CONSTRUCTION [J].

FICHTER, EF .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1986, 5 (02) :157-182

[4] SINGULARITY ANALYSIS OF CLOSED-LOOP KINEMATIC CHAINS [J].

GOSSELIN, C ;

ANGELES, J .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1990, 6 (03) :281-290

[5]

HUANG Z, 1991, SPATIAL MECH

[6]

HUANG Z, 1991, J CHIN MECH ENG, V27, P51

[7]

Hunt K. H., 1983, ASME, V105, P705

[8]

Hunt K.H., 1978, KINEMATIC GEOMETRY M

[9] Use of the cylindroid for the singularity analysis of rank 3 robot manipulators [J].

Long, GL .

MECHANISM AND MACHINE THEORY, 1997, 32 (03) :391-404

[10] SINGULAR CONFIGURATIONS OF PARALLEL MANIPULATORS AND GRASSMANN GEOMETRY [J].

MERLET, JP .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1989, 8 (05) :45-56

← 1 2 →