It is well known that singular configurations are inherent to parallel manipulators and have serious influences on their properties. Therefore, these singular configurations should be avoided in the design and applica...It is well known that singular configurations are inherent to parallel manipulators and have serious influences on their properties. Therefore, these singular configurations should be avoided in the design and application of mechanisms. The researches on the singularity identification and distribution have revealed the relations among the six configuration parameters at singular points. Few works have dealt with the relation between the singularity and the input parameters, as wcll as the properties of the manipulator nearby the singularity. In this paper, taking the semi-regular hexagons 6-6 Gough-Stewart manipulator （SRHGSMP） as an example, the configuration bifurcation characteristics going with the input parameters, the assembly configurations at singular points, and the reasons to cause the singularity are analyzed. The research reveals that the number and the combination of the input parameters have great influences on the complexity of the singularity and the curvature radiuses of the configuration curves. Under different number of input parameters, the dimensional-utmost singularity, line vectors correlation singularity and Jacobian matrix correlation singularity can occur individually or jointly. Choosing the adjacent input parameters, the simple singularity and the large singularity-free input parameters zones can be obtained. And selecting multiple input parameters, the self-motion regions and the singularity avoidance errors can be reduced. These new discoveries are valuable and of significance for the trajectory design, the singularity avoidance, and the self-motion control of the parallel manipulator.展开更多
This paper presents a novel disturbance function method to avoid turning point singularities for the semi-regular hexagons 6-SPS Gough-Stewart manipulator. Through analysis of the configuration bifurcation characteris...This paper presents a novel disturbance function method to avoid turning point singularities for the semi-regular hexagons 6-SPS Gough-Stewart manipulator. Through analysis of the configuration bifurcation characteristics of the manipulator at the type-II singular points, it is found that the type-II singularities under signal input parameter belong to turning point bifurcation. The configuration patterns for the manipulator to pass through the turning points are divided into three types: persistent, non-persistent and path configuration. Utilizing the universal unfolding approach, the configuration bifurcation characteristics under the perturbation pa- rameters applied to the extendable legs are analyzed. The investigation reveals that all configuration branches converged in the same singular point in the unperturbed system will be separated in the disturbed system. Based on this discovery, a novel method for the parallel manipulator to pass through the singular points with the desired configuration is presented. Then the disturbance functions for the manipulator to pass through the turning points with the persistent configuration and the non-persistent configuration are constructed. The method presented in this paper can be applied to avoiding the singularities in such cases where the path and orientation of the manipulator are strictly programmed.展开更多
基金supported by National Natural Science Foundation of China (Grant No. 50375111/50675188)
文摘It is well known that singular configurations are inherent to parallel manipulators and have serious influences on their properties. Therefore, these singular configurations should be avoided in the design and application of mechanisms. The researches on the singularity identification and distribution have revealed the relations among the six configuration parameters at singular points. Few works have dealt with the relation between the singularity and the input parameters, as wcll as the properties of the manipulator nearby the singularity. In this paper, taking the semi-regular hexagons 6-6 Gough-Stewart manipulator （SRHGSMP） as an example, the configuration bifurcation characteristics going with the input parameters, the assembly configurations at singular points, and the reasons to cause the singularity are analyzed. The research reveals that the number and the combination of the input parameters have great influences on the complexity of the singularity and the curvature radiuses of the configuration curves. Under different number of input parameters, the dimensional-utmost singularity, line vectors correlation singularity and Jacobian matrix correlation singularity can occur individually or jointly. Choosing the adjacent input parameters, the simple singularity and the large singularity-free input parameters zones can be obtained. And selecting multiple input parameters, the self-motion regions and the singularity avoidance errors can be reduced. These new discoveries are valuable and of significance for the trajectory design, the singularity avoidance, and the self-motion control of the parallel manipulator.
基金the National Natural Science Foundation of China (Grant Nos. 50375111, 50675188)
文摘This paper presents a novel disturbance function method to avoid turning point singularities for the semi-regular hexagons 6-SPS Gough-Stewart manipulator. Through analysis of the configuration bifurcation characteristics of the manipulator at the type-II singular points, it is found that the type-II singularities under signal input parameter belong to turning point bifurcation. The configuration patterns for the manipulator to pass through the turning points are divided into three types: persistent, non-persistent and path configuration. Utilizing the universal unfolding approach, the configuration bifurcation characteristics under the perturbation pa- rameters applied to the extendable legs are analyzed. The investigation reveals that all configuration branches converged in the same singular point in the unperturbed system will be separated in the disturbed system. Based on this discovery, a novel method for the parallel manipulator to pass through the singular points with the desired configuration is presented. Then the disturbance functions for the manipulator to pass through the turning points with the persistent configuration and the non-persistent configuration are constructed. The method presented in this paper can be applied to avoiding the singularities in such cases where the path and orientation of the manipulator are strictly programmed.
