TY - GEN
T1 - Singularity analysis of a 6-PRRS parallel robot based on geometrical method
AU - Liu, Yubin
AU - Gao, Yongsheng
AU - Zhao, Jie
AU - Cai, Hegao
AU - Yang, Yonggang
PY - 2006
Y1 - 2006
N2 - Three types of singularities have been analyzed for a 6-PRRS parallel robot in this paper, i.e., the forward, inverse, and combined singularity. Conventional analysis method of a parallel robot is based on the whole Jacobian matrix, so it needs complex process and computation. The singularity analysis in this paper focuses on the geometrical character of one motion chain, and every chain is processed by the same method, so the complexity of singularity analysis is significantly reduced. Using the Product-of-exponential formula, the kinematics equations possess algebraic character so that the inverse singularity analysis algorithms can be readily and systematically formulated. By analyzing the instantaneous mobility of the moving platform, the necessary and sufficient geometrical conditions for the forward singularity configurations are identified. It has shown that these methods can be used for singularity analysis of various parallel robots.
AB - Three types of singularities have been analyzed for a 6-PRRS parallel robot in this paper, i.e., the forward, inverse, and combined singularity. Conventional analysis method of a parallel robot is based on the whole Jacobian matrix, so it needs complex process and computation. The singularity analysis in this paper focuses on the geometrical character of one motion chain, and every chain is processed by the same method, so the complexity of singularity analysis is significantly reduced. Using the Product-of-exponential formula, the kinematics equations possess algebraic character so that the inverse singularity analysis algorithms can be readily and systematically formulated. By analyzing the instantaneous mobility of the moving platform, the necessary and sufficient geometrical conditions for the forward singularity configurations are identified. It has shown that these methods can be used for singularity analysis of various parallel robots.
KW - Instantaneous center
KW - Jacobian matrix
KW - Parallel robot
KW - Singularity
UR - https://www.scopus.com/pages/publications/34047198102
U2 - 10.1109/WCICA.2006.1713784
DO - 10.1109/WCICA.2006.1713784
M3 - 会议稿件
AN - SCOPUS:34047198102
SN - 1424403324
SN - 9781424403325
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 9217
EP - 9221
BT - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
T2 - 6th World Congress on Intelligent Control and Automation, WCICA 2006
Y2 - 21 June 2006 through 23 June 2006
ER -