Singularity Analysis of a High-Speed Parallel Robot with Schonflies Motion

被引：1

作者：

Xie, Fugui ^{[1
,2
]}

Liu, Xin-Jun ^{[1
,2
]}

Min, Zubing ^{[3
]}

机构：

[1] Tsinghua Univ, State Key Lab Tribol, Dept Mech Engn, Beijing 100084, Peoples R China

[2] Tsinghua Univ, Inst Mfg Engn, Dept Mech Engn, Beijing 100084, Peoples R China

[3] Wuhan Heavy Duty Machine Tool Grp Corp, Wuhan 430250, Hubei, Peoples R China

来源：

ADVANCES IN RECONFIGURABLE MECHANISMS AND ROBOTS II | 2016年 / 36卷

基金：

中国国家自然科学基金;

关键词：

Parallel robot; Inverse kinematics; Singularity; Transmission performance; Singular loci; GRASSMANN-CAYLEY ALGEBRA; MANIPULATORS;

D O I：

10.1007/978-3-319-23327-7_55

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

This paper introduces a parallel robot with schonflies motion. The robot can be used in packaging production lines to realize high-speed pick-and-place manipulation. It is composed of four identical limbs and a single platform. As a result, this robot has better dynamic response potential. Based on the inverse kinematics modelling, the singularity issue of this robot has been investigated. By taking the transmission performance into consideration, the input transmission singularity index and the output transmission singularity index have been defined on the basis of screw theory. Thereafter, the robot with specific geometric parameters has been taken as an example, and the corresponding singular loci have been derived. The kinematics modeling and singularity analysis presented in this paper is very helpful to the development of the robot.

引用

页码：645 / 655

页数：11

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