基于螺旋理论的新型三自由度移动并联机器人奇异性分析

Singularity Analysis of a New Family of 3-DOF Mobile Parallel Manipulators via Screw Theory

摘要: 采用螺旋理论及线性几何学方法对具有3支链5关节（P-4R）的三自由度纯移动并联机器人的奇异性进行了分析和总结．研究了该并联机器人的结构奇异性以及主动关节（驱动关节）的配置的奇异性，并采用线性几何学图解形式直观地给出其处于奇异时的形位，为进一步研究其动力学、运动学性质奠定了基础．

Abstract: This article presents the singularity analysis and synthesis of a 3-DOF(degree of freedom) mobile parallel manipulator with 3 limbs and 5 joints via screw theory and linear geometrical method.We studies the singularity of structure and the singularity of configuration of active(actuating) joints.Linear geometrical schemes are given to illustrate the displacement of singularity.This analysis lays a foundation for further research on kinematics and dynamics of this kind of parallel manipulators.