Singularity analysis for six practicable 5-DoF fully-symmetrical parallel manipulators
文献类型：期刊论文
| 作者 | Zhu SJ(朱思俊) ; Huang Z(黄真); Zhao MY(赵明扬)
|
| 刊名 | Mechanism and Machine Theory
 |
| 出版日期 | 2009 |
| 卷号 | 44期号:4页码:710-725 |
| 关键词 | Singularity 5-DoF Fully-symmetrical Parallel manipulators |
| ISSN号 | 0094-114X |
| 产权排序 | 1 |
| 中文摘要 | Fully-symmetrical 5-DoF 3R2T parallel manipulator may be adopted in motion simulation for a spinal column. However, kinematics of these manipulators has not been studied very well because of their short history. Furthermore, the study of kinematics leads inevitably to the problem of singular configuration. Nowadays, there are six theoretically practicable manipulators among existent nearly seventy manipulators. Singularity for the six manipulators is illustrated with screw theory and Grassmann geometry in this study. The singularity classification defined by Fang and Tsai are adopted for its convenience for comprehension. In the singular analysis, methods to avoid them are also presented. In the rear part of the paper, singular configuration for a prototype 5-RRR(RR) is analyzed and illustrated as a mechanism example in detail with both symbol expression and numerical figure. |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000263293800006 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7565]  |
| 专题 | 沈阳自动化研究所_装备制造技术研究室 |
| 推荐引用方式 GB/T 7714 | Zhu SJ,Huang Z,Zhao MY. Singularity analysis for six practicable 5-DoF fully-symmetrical parallel manipulators[J]. Mechanism and Machine Theory,2009,44(4):710-725. |
| APA | Zhu SJ,Huang Z,&Zhao MY.(2009).Singularity analysis for six practicable 5-DoF fully-symmetrical parallel manipulators.Mechanism and Machine Theory,44(4),710-725. |
| MLA | Zhu SJ,et al."Singularity analysis for six practicable 5-DoF fully-symmetrical parallel manipulators".Mechanism and Machine Theory 44.4(2009):710-725. |
入库方式： OAI收割
来源：沈阳自动化研究所
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