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题名: Determination of the maximal singularity-free zone in the whole workspace of 3-RRR planar parallel mechanism
作者: Yang Q(杨强); Wang HG(王洪光); Li SJ(李树军)
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: 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议录出版者: IEEE
会议录出版地: Piscataway, NJ, USA
出版日期: 2015
页码: 59-64
收录类别: EI ; CPCI(ISTP)
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
产权排序: 2
WOS记录号: WOS:000380502300017
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/18521
Appears in Collections:空间自动化技术研究室_会议论文

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Recommended Citation:
Yang Q,Wang HG,Li SJ. Determination of the maximal singularity-free zone in the whole workspace of 3-RRR planar parallel mechanism[C]. 见:2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015.
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