摘要
采用基于机构瞬时运动分析的方法 ,建立了 3 -RTT并联机器人的奇异位形判别阵。分析了 3 -RTT机器人处于奇异位形时机构所满足的几何条件。编制了基于三维搜索算法的奇异位形空间分析程序 ,对实例进行搜索计算和分析 ,给出了 3 -RTT机器人的奇异位形空间的图形 。
By adopting the method based on instantaneous motion analysis of mechanism, the distinguishing matrix for singularity configuration of 3-RTT parallel robot was established. The geometric conditions ought to be fulfilled for the mechanism, while the 3-RTT robot is on singularity configuration, have been analyzed. The spatial analysis program of singularity configuration based on 3D searching algorithm has been drawn up. A search calculation and analysis was carried out on living examples, the spatial figure of singularity configuration of the 3-RTT robot was presented, and an analysis upon its distribution law was carried out as well.
出处
《机械设计》
CSCD
北大核心
2004年第8期26-28,43,共4页
Journal of Machine Design
基金
天津市高等学校科技发展基金资助项目 (0 2 0 51 6)
天津市自然科学基金资助项目 (0 1 360 2 51 1 )
