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    题名: Direct Singular Positions of the Parallel Manipulator Tricept
    作者: 劉昭華;Liu, C. H.;Hsu, F. K.
    贡献者: 淡江大學機械與機電工程學系
    关键词: direct kinematic singularities;Tricept;parallel manipulators;parallel robots;kinematics of machinery
    日期: 2007-01
    上传时间: 2010-08-09 19:24:58 (UTC+8)
    出版者: London: Sage Publications Ltd.
    摘要: In this article, the direct singular positions of the parallel manipulator Tricept are determined. An alternative 3 x 3 Jacobian matrix, simpler than the existing one, is obtained in this study. For a given moving platform's orientation, the determinant of this Jacobian matrix may be expressed as a cubic polynomial in moving platform's equation length. Direct singular positions may thus be obtained by solving cubic polynomial equations. For an arbitrarily chosen moving platform's orientation, there exists at least one moving platform's extension length that causes direct kinematic singularity. It is found that if moving platform's size is larger than a specific value, then within the moving platform's domain there exist two regions, in which direct kinematic singularities can only occur at positions impossible to reach.
    關聯: Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science 221(1), pp.109-117
    DOI: 10.1243/0954406JMES301
    显示于类别:[機械與機電工程學系暨研究所] 期刊論文


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