机械科学与技术2018，Vol.37Issue(4)：510-518,9.DOI:10.13433/j.cnki.1003-8728.2018.0404
3-RPUU并联机构的奇异分析
Singularity Analysis of a 3-RPUU Parallel Mechanism
摘要
Abstract
3-RPUU is a six degree of freedom parallel mechanism (PM) with 3 limbs involving UU chains,and the singularity of this PM is analyzed based on instantaneous twists.Firstly,by introducing the geography parameters,the inputs of the active joints and the pose parameters of the mobile platform,the kinematic screw system of all the limbs is given.Secondly,using closed vector method and incorporating the geometrical characteristic of each joint,the inverse position solutions and the orientation angle of the rotational axes are calculated,and the instantaneous twists are determined.At last,according to the instantaneous twists,the discriminator of singularity can be obtained and two examples are given to verify the practicality.关键词
UU运动链/螺旋理论/奇异位形/3-RPUU/位置反解Key words
UU chains/screw theory/singularity analysis/3-RPUU/inverse position solutions分类
机械制造引用本文复制引用
杨高炜,张建军,殷玲,李为民..3-RPUU并联机构的奇异分析[J].机械科学与技术,2018,37(4):510-518,9.基金项目
国家自然科学基金项目(51175144)与天津市自然科学基金项目(17JCZDJC40200)资助 （51175144）
