摘要
讨论了并联机器人奇异形位的特点和分析方法，利用plucker坐标矩阵法对DELTA机器人的奇异形位进行了分析，提出了对并联机构进行受力分析来确定奇异形位的简便方法。
The characteristics and the analytical methods of the singular position of a parallel robot are discussed in this paper A singUlarity analysis of the P10cker coordinate matrix to the DELTA robot is presented. A simple way of using the force analysis to a parallel robot mechanism to determine its singular pasitions is put forward.
出处
《电子科技大学学报》
EI
CAS
CSCD
北大核心
1999年第2期144-147,共4页
Journal of University of Electronic Science and Technology of China
关键词
并联机器人
奇异形位
坐标矩阵
受力分析
parallel robot
singular position
Plucker coordinate matrix
force analysis
