摘要
奇异性是机器人设计中不可避免要考虑的问题。由于机器人奇异的定义的可操作性不是很强,在实际应用中难以处理。在上述定义的基础上给出了两种使用的并联机器人奇异判定方法,从数值计算的角度对原有的理论进行了新的阐述,并讨论了这些方法在并联机器人设计中的应用。
Singularity is one of the most important aspects to think over during the parallel manipulators （PM） design. But it is diffwult to use the definitions of singularity in practice for their poor practicable feature. Two new singularity conditions are proposed based on these conventional definitions. The singularity theory is represented form the point of view of computer calculation. And the applications of them in the PM design are also discussed.
出处
《机械设计与制造》
北大核心
2006年第9期115-116,共2页
Machinery Design & Manufacture
关键词
奇异判定
并联机器人
设计
Singularity conditions
Parallel manipulator
Manipulator design
