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平面并联机器人的机构分类及奇异性 被引量：3

Research on the Classification of Mechanisms and Singularity Loci for Planar Parallel Manipulators
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摘要 描述了平面并联机构的构型分类,提出基于微分几何方法的并联机器人奇异位形的判定定理,分析了2DOF并联机器人的奇异位形。 Currently planar parallel mechanisms have been widely applied. The paper firstly describes the classification of planar parallel mechanisms, and then simply introduces the present situation of parallel manipulators and the singularity loci analysis. Based on differential geometry, the determination of the singularity loci analysis of parallel manipulators is derived. In the end the singularity loci analysis of a planar parallel manipulator with two degrees of freedom was deduced.
作者 吴爱玲 王中华
机构地区 济南大学控制科学与工程学院
出处 《济南大学学报（自然科学版）》 CAS 2007年第2期161-163,共3页 Journal of University of Jinan(Science and Technology)
基金 山东省中青年科学家奖励基金(2004BS01008)
关键词 并联机器人 奇异位形 微分几何法 parallel manipulator singularity loci differential geometry
分类号 TP242 [自动化与计算机技术—检测技术与自动化装置]
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参考文献10

  • 1Mc Cloy D.Some comparisons of serial-driven and parallel driven manipulators[J].Robotica,1990(8):355-362.
  • 2K H Hunt.Structural kinematics of in parallel actuated Robot-Arms[J].Journal of Mechanisms Transmissions and Automation in Design,1983,105(12):705-712.
  • 3王芳,张海燕.基于Simulink的连杆机构运动学仿真[J].机械设计与研究,2004,20(2):35-37. 被引量：44
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  • 9沈辉,吴学忠,李圣怡,李泽湘.并联机构的奇异位形分析及冗余驱动控制方法[J].国防科技大学学报,2002,24(2):91-94. 被引量：4
  • 10A Karger.Singularities and self-motions of equiform platform[J].Mech Mach Theory,2001,36(7):801-815.

二级参考文献10

  • 1孙桓 傅则绍.机械原理（第四版）[M].北京:高等教育出版社,1989.292-295.
  • 2周进雄 等译.机构动态仿真[M].西安：西安交通大学出版社,2002..
  • 3Vincent K C,Imme E U. Investigation of the Deficiencies of Parallel Manipulators in Singular Configurations Through the Jacobian Nullspace[C]. Proceedings of the 2000 IEEE International Conference on Robotics & Automation Seoul, Korea, May, 2001: 21-26.
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  • 5Merlet J P. Singular Configuration of Parallel Manipulators and Grassman Geometry[J]. Int. J. of Rob.Res.,1989, 8(5):45-56.
  • 6Hao F. Conditions of Line-based Singularities in Spatial Platform Manipulators.[J] J. of Robotic Systems,1998, 15(1):43-55.
  • 7Collins C L. The Quartic Singularity Surfaces of Planar Platforms in the Clifford Algebra of the Projective Plane[J]. Mech. Mach. Theory, 1998, 33(7): 931-944.
  • 8Liu G F, Wu Y L, Li. Z X. Analysis and Control of Redundant Parallel Manipulators[C]. IEEE International Conference on Robotics and Automation(ICRA). 2001: 3748-3754.
  • 9赵新华,彭商贤.并联机器人奇异位形研究[J].机械工程学报,2000,36(5):35-37. 被引量：32
  • 10吴学忠,吴宇列,李圣怡.平面二自由度并联执行机构的设计与实现[J].国防科技大学学报,2001,23(1):40-43. 被引量：1

共引文献46

同被引文献23

引证文献3

二级引证文献8

济南大学学报（自然科学版）
2007年 第2期

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