| 3-RPS并联机构奇异位形分析 |
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| 引用本文： | 彭中波,黄玉美,马建辉,高峰,张永贵,史恩秀. 3-RPS并联机构奇异位形分析[J]. 组合机床与自动化加工技术, 2004, 0(7): 31-32,34 |
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| 作者姓名： | 彭中波 黄玉美 马建辉 高峰 张永贵 史恩秀 |
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| 作者单位： | 西安理工大学,陕西,西安,710048 |
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| 摘 要： | 文章提出用螺旋理论的方法来构造包括结构奇异和约束奇异信息的雅可比矩阵,应用这种方法针对6PM2机床的3-RPS并联机构奇异位形进行分析.提出的分析方法可以为并联机构的机构设计和控制提供理论依据.
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| 关 键 词： | 奇异位形 螺旋理论 并联机构 |
| 文章编号： | 1001-2265(2004)07-0031-03 |
Singularity analysis of 3-RPS parallel manipulators |
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| PENG Zhongbo HUANG Yumei MA Jianhui GAO Feng ZHANG Yonggui SHI Enxiu. Singularity analysis of 3-RPS parallel manipulators[J]. Modular Machine Tool & Automatic Manufacturing Technique, 2004, 0(7): 31-32,34 |
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| Authors: | PENG Zhongbo HUANG Yumei MA Jianhui GAO Feng ZHANG Yonggui SHI Enxiu |
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| Affiliation: | PENG Zhongbo HUANG Yumei MA Jianhui GAO Feng ZHANG Yonggui SHI Enxiu |
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| Abstract: | Based on the theory of reciprocal screws, a method to establish the Jacobian matrix is presented which provides information about architecture and constraint singularities. The method is verified by singularity analysis of 3-RPS parallel manipulators of 6-PM2 machine tool. The method can give the theoretic reference for designing and controlling of the parallel manipulators. |
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| Keywords: | Singularity theory of reciprocal screws parallel manipulators |
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