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    jsp.display-item.identifier=請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/65315

    题名: Graphical Analysis for Locating Direct Singular Positions of the Parallel Manipulator MIPS
    作者: Liu, C. H.;Ma, Chih-Ming
    贡献者: 淡江大學機械與機電工程學系
    关键词: Direct kinematic singularity;Graphical method;Kinematics of machinery;Parallel manipulator—MIPS;Parallel robot
    日期: 2010-11-09
    上传时间: 2011-10-20 21:39:35 (UTC+8)
    出版者: Philadelphia: Taylor & Francis Inc.
    摘要: It is shown in this study the graphical analysis using velocity polygons may be used to locate direct singular positions of a limited degree-of-freedom (DOF) parallel manipulator. The three DOF parallel manipulator MIPS is treated for illustration. The conditions for the moving platform to become movable under zero driving speeds can be obtained using the graphical velocity analysis. Manipulator configurations satisfying these conditions are direct singular positions. Several direct singular positions are determined using this technique. In order to verify these singular positions, Jacobian matrix for this manipulator is also derived in this study, and singular positions determined from graphical analysis can make the Jacobian matrix singular.
    關聯: Mechanics Based Design of Structures and Machines 38(4), p.453–467
    DOI: 10.1080/15397734.2010.489503
    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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