Tricept并联机构奇异位形分布的可视化研究  

Visualization Approach for the Distribution of the Tricept Robot's Singular Positions

作　　者：孟杰勇[1] 易传云[1] 

机构地区：[1]华中科技大学机械科学与工程学院,湖北武汉430074

出　　处：《机械与电子》2012年第11期19-22,共4页Machinery & Electronics

摘　　要：奇异位形是并联机构的固有性质,机器人应该避免在奇异位形附近区域工作。提出一种Tri-cept机器人奇异位形分布的可视化方法。该方法首先分析Tricept机器人雅可比矩阵的构成,结果表明,解析雅可比矩阵行列式为零时,机构处于奇异位形,然后根据可视化途径将Tricept奇异位形的空间分布情况绘制出来。Singularity is an inherent nature of parallel mechanisms, but a parallel manipulator should work away from the singular position. A vi- sualization approach to display the distribution of the Tricept robot＇s singular positions is presented.The analysis of the composition of Jacobian matrix indicates that if the determinant of the analysis Ja- cobian matrix is zero,the Tricept robot is in singu- lar position. The results of the above analysis are plotted in Cartesian coordinates in picture format.

关 键 词：奇异位形 Tricept机器人 可视化 雅可比矩阵 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]