共查询到20条相似文献,搜索用时 31 毫秒
1.
2.
3-RTT并联机器人奇异位形空间分析 总被引:2,自引:0,他引:2
采用基于机构瞬时运动分析的方法,建立了3—RTT并联机器人的奇异位形判别阵。分析了3—RTT机器人处于奇异位形时机构所满足的几何条件。编制了基于三维搜索算法的奇异位形空间分析程序,时实例进行搜索计算和分析,给出了3-RTT机器人的奇异位形空间的图形,并对其分布规律进行了分析。 相似文献
3.
This study introduces a high-speed parallel robot with Schönflies motion. This robot exhibits a promising prospect in realizing high-speed pick-andplace manipulation for packaging production lines. The robot has four identical limbs and a single platform. Its compact structure and single-platform concept provides this robot with good dynamic response potential. A line graph method based on Grassmann line geometry is used to investigate the mobility characteristics of the proposed robot. A generalized Blanding rule is also introduced into this procedure to realize mutual conversion between the line graphs for motions and constraints. Subsequently, the inverse kinematics is derived, and the singularity issue of the robot is investigated using both qualitative and quantitative approaches. Input and output transmission singularity indices are defined based on the reciprocal product in screw theory and the virtual coefficient by considering motion/force transmission performance. Thereafter, the singular loci of the proposed robot with specific geometric parameters are derived. The mobility analysis, inverse kinematics modeling, and singularity analysis conducted in this study are helpful in developing the robot. 相似文献
4.
The existing researches on singularity of parallel mechanism are mostly limited to the property and regularity of singularity locus and there is no further research into the geometric relationship between uncontrolled kinematic screw and parallel mechanism in singularity. A 3UPS-S parallel mechanism is presented which fulfils 3-DOF in rotation. The regularity of nutation angle singularity is analyzed based on the Jacobian matrix, and the singularity surface of 3UPS-S parallel mechanisms is obtained. By applying the concept of reciprocal product in screw theory, the singular kinematic screw is derived when 3UPS-S parallel mechanism is in singularity. The geometric relationship between singular kinematic screw and singular configuration of 3UPS-S parallel mechanism is investigated by using programs in MATLAB. It is revealed that there are two kinds of situation. Firstly, the three limbs of 3UPS-S parallel mechanism intersect the singular kinematic screw in space simultaneously; Secondly, two limbs cross the singular kinematic screw while the third limb parallels with that screw. It is concluded that the nutation angle singularity of 3UPS-S parallel mechanism belongs to the singular linear complexes. This paper sheds light into and clarifies the geometric relationship between singular kinematic screw and singular configuration of 3UPS-S parallel mechanism. 相似文献
5.
6.
基于矢量积法的六自由度工业机器人雅可比矩阵求解及奇异位形的分析 总被引:1,自引:0,他引:1
论述六自由度工业机器人奇异位置奇异和姿态奇异的问题。由于雅克比矩阵反映操作臂笛卡尔空间速度与关节空间速度之间的映射关系,因此,利用矢量积法求得雅克比矩阵,并将其分块,得雅克比行列式为零时对应的关于关节角表达式,利用关节角表达式得其臂部内部奇异和腕部内部奇异,由关节角的极限范围得边界奇异。最后仿真得出奇异位姿所对应的关节转角及其关系式,为示教、轨迹规划及其动力学分析提供了可靠的依据。 相似文献
7.
三个复杂基本运动链奇异性条件的求解与识别 总被引:4,自引:0,他引:4
提出了求解任意复杂多回路平面连杆机构及操作手奇异位置分析的模块法。即对组成复杂机构的数量有限的基本运动链进行奇异分析 ,推导出这些复杂基本运动链产生奇异位置构型的奇异性条件 ,然后将之看作是复杂机构和操作手奇异分析的基本模块 ;只要一个基本运动链达到奇异位置时 ,该复杂机构即处于奇异位置。在此基础上本文又推导出三个复杂基本运动链产生奇异位置构型的奇异性条件 ,从而扩展了用该方法求解复杂多回路平面连杆机构及操作手奇异位置的应用范围。 相似文献
8.
9.
基于微分几何的过驱动并联机器人驱动奇异性分析 总被引:1,自引:0,他引:1
运用微分几何方法对过驱动并联机器人驱动奇异性进行了分析。应用位形流形和环境流形上黎曼度量的投影关系,分析其驱动奇异性产生原因,进一步依据嵌入映射定义,提出用位形流形切空间的任一标架来代替雅可比矩阵分析驱动奇异性的方法,并利用矩阵秩的有关特性,给出分析驱动奇异性的简洁等价形式以避免矩阵乘积运算。与应用隐函数微分法相比,该方法避免多次求解逆矩阵,从而降低了计算的复杂性。最后,以平面2-DOF 过驱动并联机器人为例,说明上述理论是可行且有效的。 相似文献
10.
11.
12.
Jinbo Wu Zhouping Yin Youlun Xiong 《The International Journal of Advanced Manufacturing Technology》2006,29(7-8):794-802
Recently, it has been shown that a novel parallel manipulator called H4 can be employed to perform high speed motion for
semiconductor applications. In this new family of parallel manipulator, singularities are associated with either loss or gain
of degrees of freedom (DOF). This paper deals with singularity analysis of H4 utilizing line geometry tools and screw theory.
Firstly, the static equilibrium condition of the end effector is derived to obtain the full 6×6 matrix, which is set of governing
lines of the manipulator. Based on linear dependency of these lines, the singular configurations of the manipulator can be
identified. Moreover, in order to deal with singularities associated with loss of DOFs (serial singularity), the static equilibrium
of the actuators is also defined. Secondly, architecture and constraint singularities associated with gain of DOFs (parallel
singularity) are defined and analyzed using linear complex approximation algorithm (LCAA), which is employed to obtain the
closest linear complex, presented by its screw coordinates, to the set of governing lines. The linear complex axis and pitch
provide additional information and a better physical understanding of the manipulator’s self-motion when in or closed to a
singular configuration. Lastly, various singularities of an example H4 manipulator are presented and analyzed using the proposed
methods. 相似文献
13.
14.
15.
并联机器人每个支链由5个转动副组成,通过对支链结构采用坐标变换方法,从而使每个支链等效为一个串联机械手的形式,从而在分析过程中使得原来所要分析的参数由5个减少至4个,降低了分析的难度,这一方法对于今后并联机器人的结构分析方面做出了重要的贡献。为今后的动力学、运动学分析中避免奇异形位做出了理论探索。 相似文献
16.
17.
Bong-Un Lee Hwa-Suk Oh Ja-Young Kang 《Journal of Mechanical Science and Technology》2007,21(3):436-447
The geometric singularity problem is one of principal difficulty when using single-gimbal control moment gyros as spacecraft
attitude control devices. To overcome singularity, new steering logics are suggested in this paper which results in a reduction
in the difficulty of generating gimbal rates around a singular state. One of the suggested steering laws presented is the
reduced dimensional singular value decomposition steering law, which adopts the singular value decomposition in reduced dimensional
forms. Two other steering laws make use of the least square method in reduced dimensional forms. All of the suggested steering
laws have been generated for the compensation of the torque insufficiency. These logics are verified mathematically and simulations
at a singular condition and non-singular condition are performed to see how well they work. 相似文献
18.
19.
Jing-Shan Zhao Xu Yang Liang Zhu Zhi-Jing Feng Kai Zhou 《The International Journal of Advanced Manufacturing Technology》2006,29(11-12):1284-1294
In engineering applications, the singularity, and the forward and inverse displacement of spatial parallel manipulators have received a great deal of attention. This paper presents a new simple but effective methodology to investigate these problems based on the analysis of the degree of freedom (DoF) of the spatial parallel manipulator. Through numerical method, the singularity and the forward displacement problems can be cracked simultaneously. With a numerical example, we point out that the Newton-GMRES algorithm is quite a good redeeming method to solve the forward displacement of spatial parallel manipulators, in which cases the differential coefficient matrix of the Newton?Raphson method is nearly singular. 相似文献
20.
Based upon the method of eigenfunction expansion and Leknitskii’s complex-variable potentials for the generalized plane deformation, the singular stress field near transverse cracks is examined for cross-ply composite laminates under two types of deformation, extension and in-plane shear. The stress singularity for each deformation is obtained from the eigenvalue equation resulting from appropriate near field conditions. It is found that the stress singularity for in-plane shear deformation is much stronger than for extension. To compute the stress intensity, use is made of the asymptotic representation for the stress and displacement field in conjunction with the singular hybrid finite element method. The numerical results are confirmed through comparison to those from other numerical techniques such as the boundary collocation method. 相似文献