Workspace and Singularity Analysis of Five Bar Planar Parallel Manipulator
Workspace and Singularity Analysis of Five Bar Planar Parallel Manipulator
复制标题
五杆平面并联机构工作空间及奇异性分析
DOI：
--
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Mohd Arif
中科院分区：
文献类型：
--
作者：
R. Prasad;Mohd Arif
本文对一种含转动副的平面五杆并联机器人的工作空间和奇异性进行了分析。传统的运动学分析方法不适用于并联机器人。因此，逆运动学方法用于工作空间分析。提出了一种简化的工作空间边界跟踪方程。实际操作中，机械臂在工作空间内运行一定距离后会因奇异性的出现而停止或无法运行，因此为了保证机械臂的平稳运行，必须避免奇异性。本文以雅可比矩阵为基础，推导了平面五杆并联机构出现三种奇异位形的数学条件，并给出了相应的奇异位形。研究结果对平面五杆并联机器人的设计、制造和控制具有一定的参考价值。这种分析在设计工业机器人时是非常重要的。
This paper presents an analysis of workspace and singularity of a five-bar planar parallel manipulator with revolute joints. The traditional approach of kinematic analysis is not suitable for parallel manipulator. Therefore, the inverse kinematic approach is used for the workspace analysis. A simplified equation for tracing the boundary of the workspace is presented. Practically, the manipulator stops or fails to operate after traveling certain distance within the workspace due to the occurrence of singularity, therefore singularity must be avoided for a smooth operation of manipulator. In the present paper, the mathematical conditions for the three kinds of singularity of five-bar planar parallel manipulator are derived, which is based on Jacobian matrices and represent the corresponding singularity configuration. The results are useful to the design, manufacturing and control of a five-bar planar parallel manipulator. This kind of analysis is very important while designing the industrial robotic manipulator.