Screw theory and singularity analysis of parallel robots

被引：0
|
作者：
Hao, Kuangrong [1 ]
Ding, Yongsheng [2 ]
机构：
[1] Donghua Univ, Coll Informat Sci & Technol, Shanghai 201620, Peoples R China
[2] Donghua Univ, Coll Informat Sci & Technol Engn, Res Ctr Digitized Textile & Fash Technol, Minist Educ, Shanghai 201620, Peoples R China
来源：
IEEE ICMA 2006: PROCEEDING OF THE 2006 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2006年
关键词：
parallel manipulator; singular configuration; screw set; lie algebra;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
It is well known that the singularity analysis of a parallel manipulator is often very complicate. In fact, it exists multi-criterions to determine the singular behaviour of a parallel manipulator, for example: rank condition criterion of screw set chi of the parallel mechanism, second order criterion of. screw set chi, transverse criterion etc. The aim of this paper is to explain a general method to analyze the relationship between the different criterions of singular configurations with the help of screw theory. We find that the second order criterion is the most important one to determine whether the singular configuration is bifurcated through a large amount of parallel manipulator analysis.
引用
收藏
页码：147 / +
页数：2
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