Instantaneous center of rotation and singularities of planar parallel manipulators

H. R. Mohammadi Daniali

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Instantaneous center of rotation and singularities of planar parallel manipulators

机译：平面并联机械手的瞬时旋转中心和奇点

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摘要

With regard to planar parallel manipulators, a general classification of singularities into three groups is given. The classification scheme relies on the properties of instantaneous centers of rotation. This method is very fast and can easily be applied to the manipulators under study. The method is applied to a planar three-degrees-of-freedom parallel manipulator and all its singular configurations are found.

机译：对于平面并联操纵器，将奇异性分为三类。分类方案取决于瞬时旋转中心的属性。该方法非常快，可以轻松地应用于正在研究的操纵器。将该方法应用于平面三自由度并联机械手，并找到了其所有奇异配置。

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来源
《International Journal of Mechanical Engineering Education》 |2005年第3期|p.251-259|共9页
作者
H. R. Mohammadi Daniali;
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作者单位

Department of Mechanical Engineering, Faculty of Engineering, Mazandaran University, Babol, Mazandaran, Iran;

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原文格式 PDF
正文语种 eng
中图分类机械、仪表工业;
关键词
planar; parallel manipulator; singularity; instantaneous center of rotation;

机译：平面;平行机械手;奇异性;瞬时转动中心;

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1. Singularity-Consistent Path Planning and Motion Control Through Instantaneous Self-Motion Singularities of Parallel-Link Manipulators [J] . Dragomir N. Nenchev, Masaru Uchiyama Journal of Robotic Systems . 1997,第1期

机译：并行链接机械手瞬时自运动奇异性的奇异性一致路径规划和运动控制
2. Instantaneous kinematics and singularity analysis of three-legged parallel manipulators [J] . Anjan Kumar Dash, I-Ming Chen, Song Huat Yeo, Robotica . 2004,第MaraApr期

机译：三足并联机械手的瞬时运动学和奇异性分析
3. A robust geometric method of singularity avoidance for kinematically redundant planar parallel robot manipulators [J] . Baron Nicholas, Philippides Andrew, Rojas Nicolas Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods . 2020,第1期

机译：一种坚固的几何方法，适用于运动冗余平面并联机器人机械手的奇异性避免
4. Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators [C] . Mazen ZEIN, Philippe WENGER, Damien CHABLAT IFToMM World Congress . 2007

机译：平面3-RPR平行机械手的联合空间中的奇点表面和最大奇点盒
5. Singularity free path generation of two-DOF parallel manipulators. [D] . Borgaonkar, Kamlesh. 2007

机译：两自由度并联机械手的奇异自由路径生成。
6. Establishing a common instantaneous center of rotation for the metatarso-phalangeal and metatarso-sesamoid joints: a theoretical geometric model based on specific morphometrics [O] . Michael Durrant, Lara Durrant, Tucker McElroy 2019

机译：建立the趾指骨和ses骨-芝麻骨关节的共同瞬时旋转中心：基于特定形态学的理论几何模型
7. Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators [O] . Zein Mazen, Wenger Philippe, Chablat Damien 2007

机译：平面3-RpR并联机器人关节空间中的奇异曲面和极大奇点框
8. A complete analytical solution for the inverse instantaneous kinematics of a spherical-revolute-spherical (7R) redundant manipulator [R] . Podhorodeski, R. P., Fenton, R. G., Goldenberg, A. A. 1989

机译：球面 - 旋转 - 球面（7R）冗余机械手的逆瞬时运动学的完整解析解

Instantaneous center of rotation and singularities of planar parallel manipulators

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