Workspace and singularity analysis of a 3-DOF planar parallel manipulator with actuation redundancy
Workspace and singularity analysis of a 3-DOF planar parallel manipulator with actuation redundancy
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具有驱动冗余的三自由度平面并联机械臂的工作空间和奇异性分析
DOI：
10.1017/s0263574708004517
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发表时间：
2009-01
期刊：
影响因子：
2.7
通讯作者：
Liu, Xinjun
中科院分区：
文献类型：
--
作者：
Li, Tiemin;Wang, Jinsong;Wu, Jun;Liu, Xinjun
摘要通过在3自由度非冗余并联机构中引入主动执行机构冗余连杆，研究了具有驱动冗余的3自由度平面并联机构的位置工作空间、姿态工作空间和奇异性。在运动学分析的基础上，分别分析了冗余驱动并联机构及其对应的非冗余驱动并联机构的位置工作空间和姿态工作空间。在奇异分析阶段，基于奇异值分解理论，研究了广义输入速度与广义输出速度之间的关系。然后提出了一种研究并联机构奇异性的方法，用于确定冗余驱动并联机构的奇异性。与相应的非冗余并联机构相比，冗余并联机构具有更大的姿态工作空间和更少的奇异构型。将冗余驱动并联机械臂集成到一个四自由度混合机床中，该机床还包括一个进给工作台，以证明其适用性。
SUMMARY This paper deals with the position workspace, orientation workspace, and singularity of a 3-degree-of-freedom (DOF) planar parallel manipulator with actuation redundancy, which is created by introducing a redundant link with active actuator to a 3-DOF nonredundant parallel manipulator. Based on the kinematic analysis, the position workspace and orientation workspace of the redundantly actuated parallel manipulator and its corresponding nonredundant parallel manipulator are analyzed, respectively. In the singularity analysis phase, the relationship between the generalized input velocity and the generalized output velocity is researched on the basis of the theory of singular value decomposition. Then a method to investigate the singularity of parallel manipulators is presented, which is used to determine the singularity of the redundantly actuated parallel manipulator. In contrast to the corresponding nonredundant parallel manipulator, the redundant one has larger orientation workspace and less singular configurations. The redundantly actuated parallel manipulator is incorporated into a 4-DOF hybrid machine tool which also includes a feed worktable to demonstrate its applicability.
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影响因子：
3.3
作者：
Jun Wu;Jinsong Wang;Tiemin Li;Liping Wang
通讯作者：
Jun Wu;Jinsong Wang;Tiemin Li;Liping Wang
DOI：
10.1109/iros.2001.977222
发表时间：
2001-10
期刊：
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
影响因子：
--
作者：
S. Bai;M. Teo;W. Ng;Charlie Sim
通讯作者：
S. Bai;M. Teo;W. Ng;Charlie Sim
DOI：
10.1109/tra.2003.814507
发表时间：
2003-08
期刊：
IEEE Trans. Robotics Autom.
影响因子：
--
作者：
Guanfeng Liu;Y. Lou;Zexiang Li
通讯作者：
Guanfeng Liu;Y. Lou;Zexiang Li
影响因子：
5.2
作者：
G. Feng;Zhang Xiao-qiu;Zhao Yong-sheng;Wang Hong-rui
通讯作者：
G. Feng;Zhang Xiao-qiu;Zhao Yong-sheng;Wang Hong-rui
DOI：
10.1109/70.56660
发表时间：
1990-06-01
期刊：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
影响因子：
--
作者：
GOSSELIN, C;ANGELES, J
通讯作者：
ANGELES, J