Instantaneous Center of Rotation and Singularities of Planar Parallel Manipulators
Instantaneous Center of Rotation and Singularities of Planar Parallel Manipulators
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平面并联机构的瞬时旋转中心和奇点
DOI：
10.7227/ijmee.33.3.7
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发表时间：
2005
影响因子：
1.4
通讯作者：
H. Daniali
中科院分区：
文献类型：
--
作者：
H. Daniali
对于平面并联机器人，给出了奇点的一般分类。该分类方案依赖于瞬时旋转中心的性质。该方法速度快，易于应用于所研究的机械臂。将该方法应用于一个平面三自由度并联机构，得到了该并联机构的所有奇异构型。
With regard to planar parallel manipulators, a general classification of singularities into three groups is given. The classification scheme relies on the properties of instantaneous centers of rotation. This method is very fast and can easily be applied to the manipulators under study. The method is applied to a planar three-degrees-of-freedom parallel manipulator and all its singular configurations are found.