SINGULARITY ANALYSIS OF CLOSED-LOOP KINEMATIC CHAINS
SINGULARITY ANALYSIS OF CLOSED-LOOP KINEMATIC CHAINS
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DOI：
10.1109/70.56660
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发表时间：
1990-06-01
期刊：
影响因子：
--
通讯作者：
ANGELES, J
中科院分区：
文献类型：
--
作者：
GOSSELIN, C;ANGELES, J
本文对闭环运动链中遇到的各种奇异性进行了分析。这些奇点在三个主要群体，这是基于链的雅可比矩阵的属性的一般分类，描述。奇异配置的识别对于基于闭合运动链的硬自动化模块或机器人设备（诸如联动装置和并联机械手）特别相关。最后通过实例说明了该方法在这些机械系统中的应用。
This paper presents an analysis of the different kinds of singularities encountered in closed-loop kinematic chains. A general classification of these singularities in three main groups, which is based on the properties of the Jacobian matrices of the chain, is described. The identification of the singular configurations is particularly relevant for hard automation modules or robotic devices based on closed kinematic chains, such as linkages and parallel manipulators. Examples are given to illustrate the application of the method to these mechanical systems.