Inverse Statics Analysis of Planar Parallel Manipulators via Grassmann-Cayley Algebra

被引：1
|
作者：
Wen, Kefei [1 ]
Lee, Jeh Won [1 ]
Seo, TaeWon [1 ]
机构：
[1] Yeungnam Univ, Sch Mech Engn, 280 Daehak Ro, Gyongsan 712749, Gyeongbuk, South Korea
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2016年 / 14卷 / 05期
基金：
新加坡国家研究基金会;
关键词：
Grassmann-Cayley algebra; planar parallel manipulator; Plucker coordinates; statics; OPTIMIZATION; KINEMATICS;
D O I：
10.1007/s12555-014-0471-z
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The wrench Jacobian matrix plays an important role in the statics and singularity analysis of planar parallel manipulators (PPMs). The Jacobian matrix can be calculated based on the conventional Pliicker coordinate method. However, this method cannot be applied when two links are in parallel. A new approach is proposed for the analysis of the forward and inverse wrench Jacobian matrix using Grassmann-Cayley algebra (GCA). A symbolic formula for the inverse statics analysis is obtained based on the Jacobian. The proposed method can be applied when two links are in parallel. The approach is explained in detail based on a planar 3-RPR PPM example, and the analysis procedure for nine other PPMs is also presented. This novel approach to deriving the statics can be applied to spatial parallel manipulators and redundant cases of PPMs.
引用
收藏
页码：1389 / 1394
页数：6
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