| 单链开环结构操作机的特殊位形 |
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| 引用本文： | 毕诸明,吴瑞珉.单链开环结构操作机的特殊位形[J].南京理工大学学报(自然科学版),1997,21(1):33-36. |
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| 作者姓名： | 毕诸明 吴瑞珉 |
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| 作者单位： | 南京理工大学制造工程学院 |
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| 摘 要： | 机器人机构的奇异性分析是机器人运动学研究的重点，该文着重研究单链开环机构操作机在有限制转动或移动在节时的位置奇异曲面的求解问题。首先借助于螺旋理论给出操作机末端位置奇异时必须满足的条件，以此作为机构工作空间中奇异曲面参数的选择依据，并提出了各关节变量求取的递推算法，开发了求解实际操作机奇异曲面的通用软件。
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| 关 键 词： | 运动学 奇异性 机器人 单链开环结构 操作机 |
Singular Position of Manipulator with Single Open loop Structure |
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| BiZhuming,WuRuimin.Singular Position of Manipulator with Single Open loop Structure[J].Journal of Nanjing University of Science and Technology(Nature Science),1997,21(1):33-36. |
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| Authors: | BiZhuming WuRuimin |
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| Abstract: | Singular analysis of a robot manipulator is a key problem of robotics kinematics. The paper tries to resolve the singular surfaces of the manipulator with single open loop structure and limited revolution or translation joints. The singular condition is given using the screw theory firstly,and it is used as the basis for choosing the surfaces parameters.Finally,the recursive algorithm is provided to resolve the singular surface of this kind of manipulator. A popular software to find the singular surfaces of actual manipulors is developed. |
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| Keywords: | kinematics singularity manipulator |
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