• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods >A dual quaternion approach to efficient determination of the maximal singularity-free joint space and workspace of six-DOF parallel robots
【24h】

A dual quaternion approach to efficient determination of the maximal singularity-free joint space and workspace of six-DOF parallel robots

机译：一种有效测定最大奇点关节空间和六自由度机器人工作空间的双季度方法

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

The avoidance of singularities is critical to design and control of parallel robots. This paper aims at efficient determination of the maximal singularity-free joint space and workspace of a class of six-DOF parallel robots with six kinematic chains of same type. We represent the singularity-free joint space by a 6-cube and determine it firstly. The singularity-free workspace is generated by continuous motion of all active joints in the singularity-free joint space. As a result, the boundary of the workspace can be obtained with simultaneous consideration of position and orientation of the mobile platform. The size relation between the maximal singularity-free joint space and workspace is discussed. To efficiently determine the singularity-free joint space and workspace, we propose dual quaternion-based Jacobian matrices and construct an efficient algorithm. The algorithm detects singularities in a given joint space and simultaneously calculates its corresponding workspace. The computational costs of the proposed algorithm and the traditional one are compared using a 6-U (P) under barS parallel robot, leading to 9 seconds and 458 seconds respectively. Finally, both the maximal singularity-free joint space and workspace of a 6-(P) under bar US parallel robot are determined to further demonstrate the effectiveness of the new approach. (C) 2018 Elsevier Ltd. All rights reserved.
机译：避免奇点对于设计和控制并行机器人至关重要。本文旨在有效地确定具有六个相同类型的运动链的一类六-TOF并联机器人的最大奇点关节空间和工作空间。我们用6立方体表示无奇点关节空间并首先确定。通过无奇点关节空间中的所有活性接头的连续运动产生奇点工作空间。结果，可以通过同时考虑移动平台的位置和方向来获得工作空间的边界。讨论了最大奇点关节空间和工作空间之间的尺寸关系。为了有效地确定无奇点关节空间和工作空间，我们提出了基于双季度的雅各比矩阵并构建了一种有效的算法。该算法检测给定的联合空间中的奇点，同时计算其相应的工作空间。使用一个6-U（P）在Bars并联机器人下进行比较所提出的算法和传统的计算成本，分别导致9秒和458秒。最后，确定在Bar USParspard Robot下的6-（P）的最大奇点关节空间和工作空间都被确定为进一步证明新方法的有效性。 （c）2018年elestvier有限公司保留所有权利。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号