中国机械工程2012，Vol.23Issue(7)：786-790,5.
一种新型并联机器人的奇异性与工作空间研究
Study on Singularity and Workspace of a Novel Parallel Manipulator
摘要
Abstract
To solve the path planning problem of a six pyramid parallel manipulator,singularity and workspace of the manipulator were studied based on inverse kinematics equations with selecting criterion.A singular criterion equation was proposed by Jacobian matrix,and manipulability degree was introduced to analyze the singularity performance.Considering the limit of the joint and interference of linkages,a 3D workspace of the manipulator was presented by 3D boundary search method.Edge sampling experiments were done to show the simulation correctness and to provide theoretical basis for non singular path planning.关键词
并联机器人/逆运动学/奇异位形/工作空间Key words
parallel manipulator/inverse kinematics/singularity/workspace分类
机械制造引用本文复制引用
刘玮,常思勤..一种新型并联机器人的奇异性与工作空间研究[J].中国机械工程,2012,23(7):786-790,5.基金项目
江苏省科技支撑计划资助项目 （）
