摘要
运用反螺旋理论的方法,对2-PTR&PSR并联机器人进行奇异位形分析。应用几何法,求解出机构的反螺旋,进一步得到机构的约束雅可比矩阵和驱动雅可比矩阵,以及全雅可比矩阵;通过计算分析,2-PTR&PSR并联机器人无约束奇异,当任意一个支链上的连杆与其联接的移动副轴线垂直时,产生结构奇异;最后通过数值仿真得出机构的奇异位形3维曲面.
This paper studies the singularity of a 2-PTR＆PSR parallel manipulator based on the reciprocal screw theory. Firstly, the reciprocal screw of the manipulator is achieved by using geometry mathed, the constraint/actuation Jaeobian matrix and the overall Jacobian matrix of the mechanism are obtained. Then, through the result of analysis, the 2-PTR＆PSR parallel manipulator has no constraint singularity, and the structural singularity happens when the axes of the move function perpendicular to the link of any lamb. Finally, the 3-D curves of the singularity of the manipulator are obtained by numerical example.
出处
《天津理工大学学报》
2011年第4期41-44,共4页
Journal of Tianjin University of Technology
基金
国家自然科学基金(50675156)
天津市自然科学基金(10JCZDJC22900)
关键词
并联机器人
反螺旋
雅可比矩阵
奇异位形
parallel manipulator
reciprocal screw
Jacobian matrix
singularity
