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首页> 外文期刊>Journal of Mechanisms and Robotics: Transactions of the ASME >A 3-RPR Parallel Mechanism With Singularities That are Self-Motions
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A 3-RPR Parallel Mechanism With Singularities That are Self-Motions

机译：具有自运动的奇点的3-RPR并联机构

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摘要

The Cartesian workspace of most three-degree-of-freedom parallel mechanisms is divided by Type 2 (also called parallel) singularity surfaces into several regions. Accessing more than one such region requires crossing a Type 2 singularity, which is risky and calls for sophisticated control strategies. Some mechanisms can still cross these Type 2 singularity surfaces through "holes" that represent Type 1 (also called serial) singularities only. However, what is even more desirable is if these Type 2 singularity surfaces were curves instead. Indeed, there exists at least one such parallel mechanism (the agile eye) and all of its singularities are self-motions. This paper presents another parallel mechanism, a planar one, whose singularities are self-motions. The singularities of this novel mechanism are studied in detail. While the Type 2 singularities in the Cartesian space still constitute a surface, they degenerate into lines in the active-joint space, which is the main result of this paper.
机译：大多数三自由度并行机制的笛卡尔工作区被类型2（也称为并行）奇点表面划分为几个区域。要访问多个这样的区域，需要跨越类型2的奇点，这是有风险的，需要复杂的控制策略。某些机制仍可以通过仅表示类型1（也称为序列）奇点的“孔”穿过这些类型2奇点表面。但是，更可取的是，如果这些2型奇异面改为曲线。实际上，至少存在一种这样的并行机制（敏捷眼），并且其所有奇点都是自运动。本文提出了另一种平行机制，即平面机制，其奇点是自运动。详细研究这种新颖机制的奇异之处。尽管笛卡尔空间中的2型奇点仍然构成一个表面，但它们在活动关节空间中退化为线，这是本文的主要结果。

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