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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)
Department空间自动化技术研究室
Conference Name2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
Conference DateJune 8-12, 2015
Conference PlaceShenyang, China
Source Publication2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
PublisherIEEE
Publication PlacePiscataway, NJ, USA
2015
Pages59-64
Indexed ByEI ; CPCI(ISTP)
EI Accession number20161402187674
WOS IDWOS:000380502300017
Contribution Rank2
ISSN2379-7711
ISBN978-1-4799-8730-6
KeywordParallel Mechanism Singularity 3-rrr Mechanism Singularity-free Zones Kinematic Analysis
AbstractThe 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/18521
Collection空间自动化技术研究室
Affiliation1.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
Recommended Citation
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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