Analysis of the degrees-of-freedom of spatial parallel manipulators in regular and singular configurations
Analysis of the degrees-of-freedom of spatial parallel manipulators in regular and singular configurations
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DOI：
10.1016/j.mechmachtheory.2013.04.016
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发表时间：
2013-11
影响因子：
5.2
通讯作者：
Rangaprasad Arun Srivatsan;S. Bandyopadhyay;A. Ghosal
中科院分区：
文献类型：
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作者：
Rangaprasad Arun Srivatsan;S. Bandyopadhyay;A. Ghosal
本文基于自由度划分的概念，对空间操纵器的自由度性质进行了研究。特别是，研究了具有不同自由度组合的五个低移动性空间并联机械臂的自由度划分。引入现有理论的扩展，以分析增益型奇点处获得的自由度的性质。在几个经过充分研究的以及新开发的机械臂中分析了一自由度和二自由度的增益。这些公式还为分析任何架构的机械手的速度运动学提供了基础。
This paper presents a study of the nature of the degrees-of-freedom of spatial manipulators based on the concept of partition of degrees-of-freedom. In particular, the partitioning of degrees-of-freedom is studied in five lower-mobility spatial parallel manipulators possessing different combinations of degrees-of-freedom. An extension of the existing theory is introduced so as to analyse the nature of the gained degree(s)-of-freedom at a gain-type singularity. The gain of one- and two-degrees-of-freedom is analysed in several well-studied, as well as newly developed manipulators. The formulations also present a basis for the analysis of the velocity kinematics of manipulators of any architecture.