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首页> 外文期刊>Journal of Mechanisms and Robotics: Transactions of the ASME >On the Dynamic Properties of Rigid-Link Flexible-Joint Parallel Manipulators in the Presence of Type 2 Singularities
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On the Dynamic Properties of Rigid-Link Flexible-Joint Parallel Manipulators in the Presence of Type 2 Singularities

机译：存在第二类奇异性的刚性连接柔性关节并联机械手的动力学特性

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摘要

In our previous work (2008, "Optimal Force Generation in Parallel Manipulators for Passing through the Singular Positions," Int. J. Robot. Res., 27(8), pp. 967-983), the dynamic properties of rigid-link parallel manipulators, in the presence of type 2 singularities, have been studied. It was shown that any parallel manipulator can pass through the singular positions without perturbation of motion if the wrench applied on the end-effector by the legs and external efforts of the manipulator are orthogonal to the twist along the direction of the uncontrollable motion. This condition was obtained using the symbolic approach based on the inverse dynamics and the study of the Lagrangian of a general rigid-link parallel manipulator. It was validated by experimental tests carried out on the prototype of a four-degrees-of-freedom parallel manipulator. However, it is known that the flexibility of the mechanism may not always be neglected. Indeed, joint flexibility is the main source contributing to the overall manipulator flexibility and it leads to the trajectory distortion. Therefore, in this paper, the condition for passing through a type 2 singularity of parallel manipulators with flexible joints is studied. The suggested technique is illustrated by the example of a 5R parallel manipulator with flexible joints. It is shown that passing through singularity is possible if the 12th-order polynomial trajectory planning is applied. The obtained results are validated by the numerical simulations carried out using the ADAMS software.
机译：在我们以前的工作中（2008年，“通过并联操纵器产生最佳力以通过奇异位置”，国际机器人杂志，第27（8）页，第967-983页），刚性连杆的动态特性在类型2奇异性存在的情况下，对并联操纵器进行了研究。结果表明，如果通过腿部施加在末端执行器上的扳手和操纵器的外力垂直于沿不可控制运动方向的扭转，则任何并联操纵器都可以通过奇异位置而不会产生运动扰动。使用基于逆动力学的符号方法以及对一般刚性连杆并联机械手的拉格朗日研究的结果，可以得出这种条件。它是通过对四自由度并联机械手的原型进行的实验测试来验证的。但是，众所周知，机构的灵活性可能不会总是被忽略。实际上，关节柔韧性是促成整体机械手柔韧性的主要来源，并且会导致轨迹变形。因此，在本文中，研究了具有柔性关节的并联机械手通过2型奇点的条件。以具有柔性接头的5R并联机械手为例说明了建议的技术。结果表明，如果应用12阶多项式轨迹规划，则可以通过奇异点。通过使用ADAMS软件进行的数值模拟验证了所获得的结果。

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