Mobility Analysis for Parallel Manipulators Based on Intersection of Screw Spaces
首发时间:2012-12-25
Abstract:In order to overcome the exceptional cases of the classical CGK formula for mobility analysis, a novel approach based on intersection of screw spaces is proposed in this paper. This approach can deal with both the mobility of the moving platform and the full-cycle mobility. Furthermore, this approach can identify the redundant and passive mobilities, and guide the allocation of actuators. The procedure of the intersection operation of screw spaces is presented in detail using the proposed concept of the complementary screw. The proposed notion of intersection of screw spaces has the explicit kinematics sense, so that we are able to profoundly understand the nature of the mechanical motion of parallel robotic mechanisms.
keywords: Parallel mechanisms, Degrees of freedom, Intersection space, Robotic manipulators
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多支链并联机器人自由度分析与驱动器布置
摘要:为了克服经典CGK自由度计算公式在处理多约束多支链并联机器人的例外情况,本文提出了一种新的基于螺旋空间交集运算的机构自由度计算公式。这种方法包括机构动平台的自由度计算和机构整体自由度计算方法。这种方法包括机构动平台的自由度计算和机构整体自由度计算。这种方法可以正确的处理冗余自由度和局部自由度,还可以指导驱动器布置。通过提出互补螺旋的概念,给出了螺旋空间交集运算的过程。在一些特殊条件下,对于两条支链螺旋空间并集的维数等于一条支链螺旋举证的秩,或者等于两条支链螺旋矩阵的秩之和的情况,这种方法能够直接获得交集空间而无需任何运算。本章方法无需借助于前人提供的子群或子流形集合运算的结论,不必深奥的位移群理论,却能够深刻的认识机构运动的本质。
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