| 基于反螺旋理论的2-PTR&PSR并联机器人的奇异位形研究 |
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| 引用本文： | 王永亮,赵新华,李彬. 基于反螺旋理论的2-PTR&PSR并联机器人的奇异位形研究[J]. 天津理工大学学报, 2011, 27(4): 41-44. DOI: 10.3969/j.issn.1673-095X.2011.04.011 |
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| 作者姓名： | 王永亮 赵新华 李彬 |
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| 作者单位： | 天津理工大学机械工程学院,天津,300384 |
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| 基金项目： | 国家自然科学基金(50675156); 天津市自然科学基金(10JCZDJC22900) |
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| 摘 要： | 运用反螺旋理论的方法,对2-PTR&PSR并联机器人进行奇异位形分析。应用几何法,求解出机构的反螺旋,进一步得到机构的约束雅可比矩阵和驱动雅可比矩阵,以及全雅可比矩阵;通过计算分析,2-PTR&PSR并联机器人无约束奇异,当任意一个支链上的连杆与其联接的移动副轴线垂直时,产生结构奇异;最后通过数值仿真得出机构的奇异位形3维曲面.
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| 关 键 词： | 并联机器人 反螺旋 雅可比矩阵 奇异位形 |
Singularity analysis of 2-PTR&PSR parallel manipulator based on the reciprocal screw theory |
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| WANG Yong-liang,ZHAO Xin-hua,LI Bin. Singularity analysis of 2-PTR&PSR parallel manipulator based on the reciprocal screw theory[J]. Journal of Tianjin University of Technology, 2011, 27(4): 41-44. DOI: 10.3969/j.issn.1673-095X.2011.04.011 |
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| Authors: | WANG Yong-liang ZHAO Xin-hua LI Bin |
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| Affiliation: | WANG Yong-liang,ZHAO Xin-hua,LI Bin(School of Mechanical Engineering,Tianjin University of Technology,Tianjin 300384,China) |
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| Abstract: | This paper studies the singularity of a 2-PTR&PSR parallel manipulator based on the reciprocal screw theory.Firstly,the reciprocal screw of the manipulator is achieved by using geometry mathed,the constraint /actuation Jacobian matrix and the overall Jacobian matrix of the mechanism are obtained.Then,through the result of analysis,the 2-PTR&PSR parallel manipulator has no constraint singularity,and the structural singularity happens when the axes of the move function perpendicular to the link of any lamb.Fi... |
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| Keywords: | parallel manipulator reciprocal screw Jacobian matrix singularity |
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