| 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)
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| 作者部门: | 空间自动化技术研究室
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| 会议名称: | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
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| 会议日期: | June 8-12, 2015
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| 会议地点: | Shenyang, China
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| 会议录: | 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
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| 会议录出版者: | IEEE
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| 会议录出版地: | Piscataway, NJ, USA
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| 出版日期: | 2015
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| 页码: | 59-64
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| 收录类别: | EI
; CPCI（ISTP）
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| ISSN号: | 2379-7711
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| ISBN号: | 978-1-4799-8730-6
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| 关键词: | parallel mechanism
; singularity
; 3-RRR mechanism
; singularity-free zones
; kinematic analysis
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| 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
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| 产权排序: | 2
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| EI收录号: | 20161402187674
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| WOS记录号: | WOS:000380502300017
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| Citation statistics: |
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| 内容类型: | 会议论文
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| URI标识: | http://ir.sia.cn/handle/173321/18521
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| Appears in Collections: | 空间自动化技术研究室_会议论文
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| Determination of the maximal singularity-free zone in the whole workspace of 3-RRR planar parallel mechanism.pdf（130KB） | 会议论文 | -- | 开放获取 | | View
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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]. 2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER). Shenyang, China. June 8-12, 2015.Determination of the maximal singularity-free zone in the whole workspace of 3-RRR planar parallel mechanism.
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