Unifying framework for classification and interpretation of mechanism singularities

被引：126

作者：

Zlatanov, D

Fenton, RG

Benhabib, B

机构：

[1] Computer Integrated Manufacturing Laboratory, University of Toronto, Department of Mechanical Engineering, Toronto, ON, M5S 1A4

来源：

JOURNAL OF MECHANICAL DESIGN | 1995年 / 117卷 / 04期

关键词：

D O I：

10.1115/1.2826720

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper presents a generalized approach to the singularity analysis of mechanisms with arbitrary kinematic chains and an equal number of inputs and outputs. The instantaneous kinematics of a mechanism is described by means of a velocity equation, explicitly including not only the input and output velocities but also the passive-joint velocities. A precise definition of singularity of a general mechanism is provided. On the basis of the six types of singular configurations and the motion space interpretation of kinematic singularity introduced in the paper, a comprehensive singularity classification is proposed.

引用

页码：566 / 572

页数：7

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