并联机器人奇异位形分析的几何方法(英文)

A Geometric Method of Singularity Analysis for Parallel Robots

采用微分几何方法,提出一种针对一般并联机器人的奇异性的分类方法.依据奇异流形与奇异运动方向的关系,将奇异性进一步区分为一阶奇异性和二阶奇异性,基于二阶奇异点分布的连续性属性将其中的二阶奇异性进一步分为退化和非退化奇异性,并对退化奇异性的物理含义进行了分析,指出退化奇异给机构带来的危险性.最后针对冗余驱动的平面二自由度并联机构进行了分析.

Using the language of differential geometry, this paper provides a fine classification of singularities of general parallel robots. Based on the relations between singularity manifolds and singularity distributions, these singularities are further subclassified into first-order singularities and second-order ones. Furthermore, the second-order singularities can be distinguished as degen-erate or nondegenerate singularities by whether they form continuous curves on configuration manifolds. This paper also gives an insight into the degenerate singularities, which can sometimes be a source of danger not only to the mechanism itself but also to workers to operate the mechanism. Finally, a planar two degrees-of-freedom mechanism with one redundant actuator is given to illu-minate the method.