平面三自由度冗余并联机构的驱动奇异性分析  

Actuator Singularity Analysis of Planar 3-DOF Redundant Parallel Mechanisms

作　　者：杨建新[1] 余跃庆[1] 

机构地区：[1]北京工业大学,北京100022

出　　处：《中国机械工程》2006年第6期629-632,共4页China Mechanical Engineering

基　　金：国家自然科学基金资助项目(50375003);北京市自然科学基金资助项目(3062004)

摘　　要：分析了PRPR-2PRR、PRR-2PRR和4-PRR等三种平面冗余并联机构的驱动奇异位形,通过与平面3-PRR非冗余并联机构的比较,研究了采用不同机构冗余类型消除并联机构奇异位形的方法及其特点,为冗余并联机构的尺度综合、路径规划和控制提供了依据。The actuator singular configurations of three kinds of planar redundant parallel mechanisms （PRPR-2PRR, PRR-2PRR and 4-PRR） were discussed. Compared with planar non-redundant 3-PRR parallel mechanism, the methods and characteristics for different types of redundancy in eliminating singularity configurations of parallel mechanism were studied. The analytical results can be of great useful to the dimension synthesis, trajectory planning and control of redundant parallel mechanism.

关 键 词：冗余 并联机构 奇异性 运动学 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]