Singularity analysis for a 5-DoF fully-symmetrical parallel manipulator 5-(RRR) under bar(RR)
文献类型：会议论文
| 作者 | Zhu SJ(朱思俊) ; Huang Z(黄真); Zhao MY(赵明扬)
|
| 出版日期 | 2007 |
| 会议名称 | IEEE International Conference on Robotics and Automation |
| 会议日期 | April 10-14, 2007 |
| 会议地点 | Rome, ITALY |
| 关键词 | singularity analysis 5-DoF fully-symmetrical parallel manipulator |
| 页码 | 1189-1194 |
| 中文摘要 | A 5-DoF 3R2T (three dimensional rotation and two dimensional translation degrees of freedom) fully-symmetrical parallel manipulator can be adopted in many applications such as simulating the motion of spinal column. However, kinematics of this type parallel manipulator has not been studied enough because of short history. The study of kinematics of the manipulators leads inevitably to the problem of singular configuration. Singularity of a 5-DoF 3R2T fully-symmetrical parallel manipulator, 5-(RRR) under bar (RR), is illustrated in this study. According to the singularity classification by Fang and Tsai, both limb singularity and actuation singularity are illustrated by screw theory and Grassmann geometry. The result of this study wilt be helpful for singularity analysis of 5-DoF 3R2T fully-symmetrical parallel manipulators because of their similar constraint property. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE |
| 会议录 | PROCEEDINGS OF THE 2007 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-10
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISSN号 | 1050-4729 |
| ISBN号 | 978-1-4244-0601-2 |
| WOS记录号 | WOS:000250915301031 |
| 源URL | [http://ir.sia.cn/handle/173321/7918]  |
| 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 a 5-DoF fully-symmetrical parallel manipulator 5-(RRR) under bar(RR)[C]. 见:IEEE International Conference on Robotics and Automation. Rome, ITALY. April 10-14, 2007. |
入库方式： OAI收割
来源：沈阳自动化研究所
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