Branching singularities in kinematotropic parallel mechanisms
Branching singularities in kinematotropic parallel mechanisms
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DOI：
10.1007/978-3-642-01947-0_42
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
G. Gogu
中科院分区：
文献类型：
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作者：
G. Gogu
研究了各向异性并联机构的分支奇异性问题。利用作者最近提出的并联机器人的移动性、连通性、过约束和冗余度的新公式，描述了各向同性并联机构在分支奇点处和各不同分支处的行为。从新公式出发，确定了四种类型的分支奇异点。在不需要计算雅可比矩阵的情况下，通过检测可以很容易地识别出与四种分支奇异点和不同分支相关的结构参数。
The paper addresses the branching singularities in kinematotropic parallel mechanisms. The new formulae of mobility, connectivity, overconstraint and redundancy of parallel robots, recently proposed by the author, are used to characterize the behavior of the kinematotropic parallel mechanisms in the branching singularity and in each distinct branch. Four types of branching singularities are identified starting from the new formulae. The structural parameters associated with the four types of branching singularities and the distinct branches as well can be easily identified by inspection with no need to calculate the Jacobian matrix.