基于螺旋理论的串联机器人奇异性分析  

Singularity Analysis of Serial Robot Based on Screw Theory

作　　者：刘国军 LIU Guojun(School of Mechanical Engineering,Hunan Institute of Science and Technology,Yueyang 414006,China)

机构地区：[1]湖南理工学院机械学院,湖南岳阳414006

出　　处：《机械工程师》2024年第6期51-54,共4页Mechanical Engineer

摘　　要：串联机器人被广泛用作工业机器人、医疗机器人等。当处于奇异位姿时,串联机器人将变得自由度减少或不可控。文中利用螺旋理论,提出一种对串联机器人奇异性进行分析的方法。文中提出的奇异性分析方法,不需要求导运算,物理意义明确。Serial robots are widely used as industrial and medical robots.When the serial robot is in singular position,the serial robot degrees of freedom will be reduced or become uncontrollable.In this paper,we propose a method to analyze the singularity of tandem robots using spiral theory.The singularity analysis method proposed in this paper does not require derivation operations and has clear physical meaning.

关 键 词：螺旋理论 串联机器人 奇异性分析 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]