朱大昌, 方跃法. 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[J]. 机器人, 2006, 28(2): 103-106..
ZHU Da-chang, FANG Yue-fa. Singularity Analysis of a New Family of 3-DOF Mobile Parallel Manipulators via Screw Theory. ROBOT, 2006, 28(2): 103-106..
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.
[1] Stewart D.A platform with six degrees of freedom[J].Proceedings of the Institution of Mechanical Engineers,1965,180(15);371-386. [2] Fang Y F,Tsai L W.Structure synthesis of a class of 3-dof rotational parallel manipulators[J].IEEE Transactions on Robotics and Automation,2004,20(1);117-121. [3] Sameer A J,Tsai L W.The kinematics of a class of 3-dof,4-legged parallel manipulators[J].Journal of Mechanical Design,2003,125(1);52-60. [4] Kong X W,Gcsselin C M.Type synthesis of 3-dof translational parallel manipulators based on screw theory[J].Journal of Mechanical Design,2004,126(1);83-92. [5] Miller K.Maximization of workspace volume of 3-dof spatial parallel manipulators[J].Journal of Mechanical Design,2002,124(2);347-358. [6] Li Y W,Wang J S,Wang L P,et al.Inverse dynamics and simulation of a 3-dof spatial parallel manipulator[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].USA;IEEE Press,2003.4092-4097. [7] Wang J,Gosselin C M.Singularity loci of a special class of spherical 3-dof parallel mechanisms with prismatic actuators[J].Journal of Mechanical Design,2004,124(2);319-327. [8] Marco C,Vincenzo P C.Position analysis of a new family of 3-dof translational parallel manipulators[J].Journal of Mechanical Design,2003,125(2);316-322. [9] Tsai L W.Robot Analysis,the Mechanics of Serial and Parallel Manipulators[M].New York;Wiley,1999. [10] Gosselin C M,Lavoie E.On the kinematic design of spherical 3-dof parallel manipulators[J].The International Journal of Robotics Research,1993,12(4);394-402.
