期刊
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE
卷 235, 期 18, 页码 3534-3553出版社
SAGE PUBLICATIONS LTD
DOI: 10.1177/0954406220976712
关键词
Planar parallel mechanism; kinematic redundancy; workspace-singularity map; singularity avoidance
资金
- Fundamental Research Funds for the Central Universities [2019JBM052]
- National Natural Science Foundation of China [51505023, 51875033]
This paper investigates the singularity of a planar mechanism with kinematic redundancy, establishing an inverse kinematics model and conducting comparison analysis to determine the unique inverse solution of the mechanism. Workspace-singularity map and singular configurations are drawn based on obtained Jacobian matrices and singular condition. Adjusting kinematic redundant actuated parameter can change the workspace boundary and singular configuration for singularity avoidance.
In this paper, the singularity of a planar mechanism with kinematic redundancy is studied. First, the architecture of the mechanism and the concept schematic diagram for singularity avoidance are stated. Next, inverse kinematics model of the planar parallel mechanism with kinematic redundancy is established. For determining the unique inverse solution of the mechanism under certain initial installation configuration, a comparison analysis based on the strategy tree and the virtual prototype is performed. Then, based on the obtained Jacobian matrices and the singular condition, the workspace-singularity map and two singular configurations of the mechanism are drawn. Finally, with the obtained workspace-singularity map, a singularity-free transition layer and an aisle can be found to perform to singularity avoidance, even if the initial designed trajectory passing through the second kind of singularity. Three tasks are carried out to illustrate that the workspace boundary and singular configuration can be changed by adjusting the kinematic redundant actuated parameter.
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