• CN:11-2187/TH
  • ISSN:0577-6686

›› 2000, Vol. 36 ›› Issue (5): 35-37.

• 论文 • 上一篇    下一篇

并联机器人奇异位形研究

赵新华;彭商贤   

  1. 天津大学机械学院智能机械所
  • 发布日期:2000-05-15

RESEARCH ON THE SINGULAR CONFIGURATION OF PARALLEL MANIPULATORS

Zhao Xinhua;Peng Shagnxian   

  1. Tianjin University
  • Published:2000-05-15

摘要: 介绍一种并联机器人奇异位形分析计算的新方法。该方法以动平台瞬时运动为基础,建立奇异位形条件,从而获得简化的奇异位形判别方程式,以6自由度三角平台并联机器人和三支链并联机器人为例对这一问题进行研究。

关键词: 并联机器人, 奇异位形, 瞬时运动

Abstract: A new method of analyzing and calculating the singular configurations of parallel manipulators is presented. Based on the instantaneous motion, the singular configuration conditions and simplified singular configuration equations are obtained for the six-degree of freedom triangular platform parallel manipulator and three – branch parallel manipulator.

Key words: Instantaneous motion, Parallel manipulator, Singular configuration

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