期刊
JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY
卷 25, 期 2, 页码 513-522出版社
KOREAN SOC MECHANICAL ENGINEERS
DOI: 10.1007/s12206-010-1224-4
关键词
Property identification; Position-singularity; Stewart-gough manipulator; Singularity kinematics principle
资金
- NSFC [50905075]
- Jiangnan University [JUSRP10908]
- Jiangsu Province Digital Manufactruing Technology Key Construction Laboratory [HGDML-0910]
- Innovative Research Team of Jiangnan University (PIRTJiangnan)
This paper presents a new principle and method of kinematics to analyze the singularity of Stewart-Gough parallel manipulators and addresses the property identification of the position-singularity loci of the 6-3 Stewart-Gough manipulators for special orientations. Based on the kinematic relationship of a rigid body, a necessary and sufficient condition that three velocities of three non-collinear points in a moving rigid body can determine a screw motion is addressed and some typical singular configurations of the 6-3 Stewart-Gough parallel manipulators are also addressed in detail. With the above-mentioned condition, a symbolic analytical polynomial expression of degree three in the moving platform position parameters, representing the position-singularity locus of the 6-3 Stewart-Gough manipulators for special orientations, is derived; and the property identification of the position-singularity loci of the 6-3 Stewart-Gough manipulator for these special orientations is investigated at length. It is shown that position-singularity loci of the 6-3 Stewart-Gough parallel manipulator for these special orientations will be a plane and a hyperbolic paraboloid, even three intersecting planes.
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