A study of workspace and singularity characteristics for design of 3-DOF planar parallel robots
A study of workspace and singularity characteristics for design of 3-DOF planar parallel robots
复制标题
三自由度平面并联机器人设计的工作空间和奇点特性研究
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
J. Thebert
中科院分区：
文献类型：
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作者：
Ming Z. Huang;J. Thebert
研究了两种常见的三自由度平面并联机器人的工作空间和奇异性特性。所考虑的机器人具有三个并联驱动，R-R-R和R-P-R串行链几何形状的运动学结构。在这项研究中，计算机模拟辅助图形可视化被用来描述完整的姿态工作空间（位置和方向的范围）和系统固有的奇点。还进行了参数化研究，以确定这两种特性随各种几何参数（如枢轴位置、连杆长度和末端执行器尺寸）而变化的方式。结果表明，可用工作空间与该工作空间内的奇异密度具有独特的复合比，可用于优化机器人的几何设计。
A study of workspace and singularity characteristics is presented for two common types of 3-DOF planar parallel robot manipulators. The robots considered feature a kinematic structure with three in-parallel actuated, R-R-R, and R-P-R serial chain geometries. In this study, computer simulations aided with graphic visualization were used to characterize the complete pose workspace (for ranges of both position and orientation) and the singularity inherent to the systems. Parametric studies have also been performed to ascertain the way in which both characteristics vary with respect to various geometric parameters such as pivot locations, link lengths, and size of end-effector. Results are shown by way of a unique composite ratio of the available workspace to the density of singularity within that workspace, which can be used to optimize the geometry of the robots in design.