Inverse dynamics of parallel manipulators in the presence of drive singularities

被引：59

作者：

Ider, SK ^{[1
]}

机构：

[1] Middle E Tech Univ, Dept Mech Engn, TR-06531 Ankara, Turkey

来源：

MECHANISM AND MACHINE THEORY | 2005年 / 40卷 / 01期

关键词：

parallel manipulator; inverse dynamics; singularity; drive singularity; desingularization;

D O I：

10.1016/j.mechmachtheory.2004.05.007

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

At drive singularities of parallel manipulators the actuators lose control of the end-effector in certain directions. It is shown that if certain conditions related to the consistency of the dynamic equations are satisfied by a proper design of the trajectory, the manipulator can pass through the singular positions while the actuator forces and the system motion remain stable. To find the values of the actuator forces in the neighborhood of the drive singularities, the dynamic equations are modified by using higher order derivative information. (C) 2004 Elsevier Ltd. All rights reserved.

引用

页码：33 / 44

页数：12

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