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Singularity loci of planar parallel manipulators with revolute actuators

机译：带有旋转致动器的平面并联机械手的奇异位点

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摘要

The determination of the singularity loci of planar parallel manipulators is addressed in this paper. the inverse kinematics of two kinds of planar parallel manipulators (a two-degree-of-freedom manipulator and a three-degree-of-freedom manipu- lateor) are first computed and their velocity equations are then derived. At the same time, the branches of the manipulators are distinguished by the introduction of a branch index K_i. Using the velocity equations, the singularity analysis of the manipulators is completed and expression which represent the singularity of the manipulators are obtained.
机译：本文讨论了平面并联机械手奇异位点的确定问题。首先计算两种平面并联机械手（两自由度机械手和三自由度机械手）的逆运动学，然后推导它们的速度方程。同时，通过引入分支索引K_i来区分操纵器的分支。利用速度方程，完成了机械臂的奇异性分析，得到了代表机械臂奇异性的表达式。

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