Study on singularity analysis with differential transform method for 3-RRUR parallel robot based on Jacobian matrix |
| |
Authors: | DONG Que JIANG Zhi-hong and HUANG Qiang |
| |
Affiliation: | School of Mechatronic Engineering, Beijing Institute of Technology, Beijing 100081, China |
| |
Abstract: | Parallel robot is used in many different fields nowadays,but the singularity of 3-RRUR parallel robot is more complicated,so a method to analyze the singularity of the 3-RRUR parallel robot is very necessary.First,the Jacobian matrix was built based on the differential transform method through the transfer matrixes between the poles.The connection between the position parameters and singularity condition was built through the analysis of the Jacobian matrix.Second,the effect on the singularity from the posi... |
| |
Keywords: | Jacobian matrix parallel robot singularity |
本文献已被 CNKI 维普 万方数据 等数据库收录! |
| 点击此处可从《北京理工大学学报(英文版)》浏览原始摘要信息 |
|
点击此处可从《北京理工大学学报(英文版)》下载全文 |