3—RTT并联机器人奇异位形空间分析  

Spatial analysis for singularity configuration of 3-RTT parallel robots

作　　者：张威[1] 赵新华[1] 

机构地区：[1]天津理工学院机械工程学院,天津300191

出　　处：《机械设计》2004年第8期26-28,43,共4页Journal of Machine Design

基　　金：天津市高等学校科技发展基金资助项目 (0 2 0 51 6) ;天津市自然科学基金资助项目 (0 1 360 2 51 1 )

摘　　要：采用基于机构瞬时运动分析的方法 ,建立了 3 -RTT并联机器人的奇异位形判别阵。分析了 3 -RTT机器人处于奇异位形时机构所满足的几何条件。编制了基于三维搜索算法的奇异位形空间分析程序 ,对实例进行搜索计算和分析 ,给出了 3 -RTT机器人的奇异位形空间的图形 。By adopting the method based on instantaneous motion analysis of mechanism, the distinguishing matrix for singularity configuration of 3-RTT parallel robot was established. The geometric conditions ought to be fulfilled for the mechanism, while the 3-RTT robot is on singularity configuration, have been analyzed. The spatial analysis program of singularity configuration based on 3D searching algorithm has been drawn up. A search calculation and analysis was carried out on living examples, the spatial figure of singularity configuration of the 3-RTT robot was presented, and an analysis upon its distribution law was carried out as well.

关 键 词：三自由度 并联机器人 奇异位形空间 三维搜索算法 并联机构 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]