Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism That Eliminates Singularities and Improves Dexterity
Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism That Eliminates Singularities and Improves Dexterity
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DOI：
10.1115/1.2988472
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发表时间：
2008-12
影响因子：
3.3
通讯作者：
J. Saglia;J. Dai;D. Caldwell
中科院分区：
文献类型：
--
作者：
J. Saglia;J. Dai;D. Caldwell
本文研究了一类具有中心支撑的并联机构的行为。该机构机动性低，冗余驱动，用于踝关节扭伤康复。基于雅可比矩阵，从秩亏和条件数两个方面研究了该类并联机构在整个工作空间中的奇异性和灵巧性。将三肢和两肢非冗余驱动情况与三肢冗余驱动情况进行了比较。分析表明，引入驱动冗余在消除奇异性和提高灵巧性方面具有优势，并证明了所提出的踝关节康复机构的选择是合理的。
This paper investigates the behavior of a type of parallel mechanisms with a central strut. The mechanism is of lower mobility, redundantly actuated, and used for sprained ankle rehabilitation. Singularity and dexterity are investigated for this type of parallel mechanisms based on the Jacobian matrix in terms of rank deficiency and condition number, throughout the workspace. The non-redundant cases with three and two limbs are compared with the redundantly actuated case with three limbs. The analysis demonstrates the advantage of introducing the actuation redundancy to eliminate singularities and to improve dexterity and justifies the choice of the presented mechanism for ankle rehabilitation.