摘要
总结了对七自由度冗余机械臂进行奇异性分析的常用方法,并引入了一种基于相关旋量抑制的方法。采用这种方法,对一种构型与加拿大臂2相同的七自由度冗余机械臂进行了奇异性分析,得出了七自由度冗余机械臂出现奇异时的5种情况。为了深入和形象地理解机械臂的奇异构形,针对每种情况进行了详细分析,得出了每种情况对应的奇异构形的几何特征,并用图解形式直观地给出了奇异构形的例子。
Popular methods for singular analy-sis of a 7 degrees of freedom （DOF）redundant ma-nipulator are summarized.A depend screw sup-pression approach is introduced and applied to the singular analysis of a 7-DOF redundant manipulator,whose configuration is identical with Canadarm2.Five sets of conditions defining singular configurations are obtained.In order to have a deep and visual understanding of singular configurations,each condition is analyzed in detail.Geometric features and illustration of singular configurations of the 7 -DOF manipulator are presented.
出处
《机械与电子》
2014年第10期67-70,共4页
Machinery & Electronics
基金
国家自然科学基金资助项目(51305097)
教育部博士点基金资助项目(20122302120046)
关键词
七自由度冗余机械臂
奇异性分析
相关旋量抑制方法
奇异构形特征
7-DOF redundant manipulator
singularity analysis
dependent-screw suppression approach
feature of singular configurations
