基于螺旋理论的非冗余并联机器人奇异性分析

Singularity Analysis of Non-redundant Parallel Robot Based on Screw Theory

并联机器人被广泛用作运动模拟平台、振动台和并联机床等。当处于奇异位姿时,并联机器人将变得自由度减少、自由度类型改变或自由度增多等,致使内力增大、达不到需要的运动或不可控等。文中利用螺旋理论,提出一种对非冗余并联机器人奇异性进行分析的方法。该奇异性分析方法不需要求导运算,物理意义明确。

Parallel robots are widely used as motion simulation platforms,shaking table and parallel kinematic machine tool,etc.When in a singular pose,the degree of freedom of the parallel robot will be reduced,or the type of the degree of freedom will be changed,or the degree of freedom will be increased,etc.,resulting in an increase in internal force,or the lack of desired motion,or uncontrollability,etc.In this paper,a method for analyzing the singularity of non-redundant parallel robots is proposed by using the screw theory.The singularity analysis method proposed in this paper does not require derivation operations,and its physical meaning is clear.