农业机械学报2012，Vol.43Issue(12)：234-239,250,7.DOI:10.6041/j.issn.1000-1298.2012.12.042
6_PUS并联机构奇异判据推导与奇异性分析
Singularity Judge Deriving and Singularity Analysis for 6_PUS Parallel Mechanism
摘要
Abstract
Based on force screw equilibrium equation of a kind of 6_PUS parallel mechanism and decomposed force of its' branches, force Jaccobian was derived and then kinematic Jaccobian was got. By kinematic Jaccobian, singurality conditions of 6 _ PUS parallel mechanism were achieved and the geometry characteristics in two kinds singularities of this parallel mechanism were drawn. In order to study conveniently on singularities of the mechanism in its' full work space, a concept that called singularity field was put forward to express the mechanism actually running. As the base to research singularity and to avoid singularity, the expression equations of singularity field were built. The distribution of two kinds of singularities in full work space of this 6 _ PUS mechanism was obtained and methods for avoid singularities or forbid mechanism running at singularities point were brought out for reference to design of this kind mechanism.关键词
并联机构/奇异性/奇异域/雅可比矩阵/力螺旋Key words
Parallel mechanism / Singularity / Singularity field / Jaccobian matrix / Force screw分类
机械制造引用本文复制引用
谭兴强,谢志江,谢永春..6_PUS并联机构奇异判据推导与奇异性分析[J].农业机械学报,2012,43(12):234-239,250,7.基金项目
国家"995工程"二期国防领域科技国家重大专项资助项目(20083001.HT12) （20083001.HT12）
