| Determination of the maximal singularity-free zone in the whole workspace of 3-RRR planar parallel mechanism | |
Yang Q(杨强); Wang HG(王洪光) ; Li SJ(李树军)
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| 作者部门 | 空间自动化技术研究室 |
| 会议名称 | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) |
| 会议日期 | June 8-12, 2015 |
| 会议地点 | Shenyang, China |
| 会议录名称 | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER) |
| 出版者 | IEEE |
| 出版地 | Piscataway, NJ, USA |
| 2015 | |
| 页码 | 59-64 |
| 收录类别 | EI ; CPCI（ISTP） |
| EI收录号 | 20161402187674 |
| WOS记录号 | WOS:000380502300017 |
| 产权排序 | 2 |
| ISSN号 | 2379-7711 |
| ISBN号 | 978-1-4799-8730-6 |
| 关键词 | Parallel Mechanism Singularity 3-rrr Mechanism Singularity-free Zones Kinematic Analysis |
| 摘要 | The singularity-free zones of 3-RRR (R denotes actuator joint) planar parallel mechanisms are studied. The methods and procedures of determination of maximal singularity-free zone of planar 3-RRR parallel mechanism, both for centered on given point and for in the whole workspace, are introduced. For 3-RRR parallel mechanism, the expression for the singularity locus and the algorithms for determining the singularity-free zones involve both the Cartesian and the joint variables. To make the algorithms to be simplified and be efficient, the methods to simplify the algorithms for determining the singularity-free zones in Polar space is proposed. The methodology and procedures for determining the singularity-free zones centered on given point of 3-RRR planar parallel mechanisms are introduced. Then a self-modifying technique for searching the center of the whole workspace maximal singularity-free zone was developed, so that the theoretical center of the whole workspace maximal singularity-free zone can be obtained step by step automatically. The calculating results show that the simplified algorithms and the techniques for determining the singularity-free zones of planar parallel mechanism are correct and efficient. |
| 语种 | 英语 |
| 引用统计 | |
| 文献类型 | 会议论文 |
| 条目标识符 | http://ir.sia.cn/handle/173321/18521 |
| 专题 | 空间自动化技术研究室 |
| 作者单位 | 1.College of Mechanical Engineering and Automation, Northeastern University, Shenyang Liaoning, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang Liaoning, China |
| 推荐引用方式 GB/T 7714 | Yang Q,Wang HG,Li SJ. Determination of the maximal singularity-free zone in the whole workspace of 3-RRR planar parallel mechanism[C]. Piscataway, NJ, USA:IEEE,2015:59-64. |
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