| Singularities Analysis of Paradoxical Mechanism and Parallel Manipulators |
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| 作者姓名： | 郝矿荣 |
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| 作者单位： | College of Information Science and Technology, Donghua University, Shanghai 201620 |
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| 基金项目： | 国家自然科学基金;国家自然科学基金;国家高技术研究发展计划(863计划) |
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| 摘 要： | Parallel manipulator is associated with a set of functions defined by its closure constraints. In this paper, using Lie algebra method, we provide a study on the singularities of parallel manipulators, their relations with the second order of the closure functions, and the tangent space of the configuration space of the manipulator. The transverse condition criterion is applied to analyze the behavior of the singularities. This gives a downright explication why the 6R paradoxical mechanisms work in their singular configurations, and allows to gain insight on configuration space singularities and to choose the adequate design parameters for the parallel manipulator.
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| 关 键 词： | 并联 机器构造 计算方法 计算参数 |
| 收稿时间： | 2006-08-20 |
Singularities Analysis of Paradoxical Mechanism and Parallel Manipulators |
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| HAO Kuang-rong.Singularities Analysis of Paradoxical Mechanism and Parallel Manipulators[J].Journal of Donghua University,2006,23(6):5-9. |
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| Authors: | HAO Kuang-rong |
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| Institution: | College of Information Science and Technology, Donghua University, Shanghai 201620 |
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| Abstract: | Parallel manipulator is associated with a set of functions defined by its closure constraints. In this paper, using Lie algebra method, we provide a study on the singularities of parallel manipulators, their relations with the second order of the closure functions, and the tangent space of the configuration space of the manipulator. The transverse condition criterion is applied to analyze the behavior of the singularities. This gives a downright explication why the 6R paradoxical mechanisms work in their singular configurations, and allows to gain insight on configuration space singularities and to choose the adequate design parameters for the parallel manipulator. |
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| Keywords: | Lie algebra screws singularities parallel manipulator |
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