Topology optimisation and singularity analysis of a 3-SPS parallel manipulator with a passive constraining spherical joint
Topology optimisation and singularity analysis of a 3-SPS parallel manipulator with a passive constraining spherical joint
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DOI：
10.1016/s0094-114x(03)00116-2
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发表时间：
2004-02-01
影响因子：
5.2
通讯作者：
Shirinzadeh, B
中科院分区：
文献类型：
--
作者：
Alici, G;Shirinzadeh, B
研究了由球面+棱体+球面关节和被动球面关节组成的3-SPS并联机器人的拓扑优化和奇异性分析。首先，回顾了空间三臂并联机器人的数字综合方法，给出了本文所研究的并联机器人存在的条件。其次，建立了位置逆解的数学模型，采用基于整个工作空间内机械手雅可比矩阵条件数的约束优化算法确定设计参数。通过一组优化试验，证明了该算法对确定机械手设计参数的最佳值是有效的。第三，推导了正、逆雅可比矩阵，采用不需要雅可比行列式的根的显式表示的方法，生成了不同设计参数值的机械臂奇异轨迹。奇异轨迹的提出表明，该方法是一种有效且通用的确定机械手奇异位形的方法，并且条件良好的工作空间具有最少的奇异性位形。(C)2003爱思唯尔有限公司。保留所有权利。
This study focuses on topology optimisation and singularity analysis of a 3-SPS parallel manipulator with three identical limbs made of spherical + prismatic + spherical joints, and a passive spherical joint connecting a moving platform to a fixed base. First, the number synthesis for spatial parallel manipulators with three limbs is reviewed and the existence conditions for the parallel manipulator considered in this study are presented. Second, the inverse position formulation is established; a constrained optimisation algorithm based on the condition number of the manipulator Jacobian matrix over the entire workspace of the manipulator is employed to determine design parameters. A set of optimisation trials is accomplished to prove that the algorithm is valid for determining the optimum values of the manipulator design parameters. Third, forward and inverse Jacobian matrices are derived, and then the singularity loci of the manipulator with different values of the design parameters are generated using a methodology not requiring the explicit expressions for the roots of the determinant of the Jacobians. The singularity loci have been presented to show that this methodology is an efficient and versatile technique in the singularity determination of manipulators, and that a well-conditioned workspace has the least number of singular configurations. (C) 2003 Elsevier Ltd. All rights reserved.