The Singularity Principle and Property of Stewart Parallel Manipulator
The Singularity Principle and Property of Stewart Parallel Manipulator
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DOI：
10.1002/rob.10078
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发表时间：
2003-04
期刊：
影响因子：
--
通讯作者：
Zhen Huang;Longhui Chen;Yanwen Li
中科院分区：
文献类型：
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作者：
Zhen Huang;Longhui Chen;Yanwen Li
基于刚体运动学关系，提出了一种分析Stewart并联机构奇异性的新原理和方法。研究了物体上三个非共线点的三个速度决定螺旋运动的充要条件。将Stewart并联机构的所有奇异位形分为三种不同的线性复奇异位形。详细分析了不同奇异位形下机器人的各种代数、几何和运动学性质。在此条件下，研究了3/6-Stewart并联机器人在斜平面内和三维空间中移动的某些姿态下的奇异轨迹和分布特性。© 2003 Wiley Periodicals，Inc.
Based on the kinematic relationship of rigid body, this paper presents a new principle and method to analyze the singularity of a Stewart parallel manipulator. We study the sufficient and necessary condition that three velocities of three non-collinear points in a body can determine a screw motion. All singularities of the Stewart parallel mechanism are classified into three different linear-complex singularities. The various algebraic and geometrical properties as well as kinematics ones are analyzed in detail in different singular configurations. With the condition above, the singularity loci and distribution characteristics of a 3/6—Stewart parallel manipulator for some orientations of the mobile are studied in an oblique plane and in three-dimensional space. © 2003 Wiley Periodicals, Inc.