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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)
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.
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被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
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
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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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