Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy|Chaoyu Shen;Haibo Qu;Sheng Guo;Xiao Li|China Waterborne Transport Research Institute,Beijing 100088,China - 期刊导航|首站-论文投稿智能助手|论文发表|论文智能投稿|期刊自助发表推荐|杂志社快速发表|查同导刊-域田数据官方网站

典型文献

Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

文献摘要：

The kinematic redundancy is considered as a way to improve the performance of the parallel mechanism. In this paper, the kinematics performance of a three degree-of-freedom parallel mechanism with kinematic redundancy (3-DOF PM-KR) and the influence of redundant parts on the PM-KR are analyzed. Firstly, the kinematics model of the PM-KR is established. The inverse solutions, the Jacobian matrix, and the workspace of the PM-KR are solved. Secondly, the influence of redundancy on the PM-KR is analyzed. Since there exists kinematic redundancy, the PM-KR possesses fault-tolerant performance. By locking one actuating joint or two actuating joints simultaneously, the fault-tolerant workspace is obtained. When the position of the redundant part is changed, the workspace and singularity will be changed. The results show that kinematic redundancy can be used to avoid singularity. Finally, the simulations are performed to prove the theoretical analysis.

文献关键词：

中图分类号：

[1] 医药、卫生（R） / 基础医学（R3） / 病理学（R36） / 病理过程（R364）

[2] 医药、卫生（R） / 药学（R9） / 药理学（R96） / 实验药理学（R965）

[3] 自动化技术、计算机技术（TP） / 计算技术、计算机技术（TP3） / 计算机的应用（TP39） / 信息处理(信息加工)（TP391）

作者姓名：

Chaoyu Shen;Haibo Qu;Sheng Guo;Xiao Li

作者机构：

Robotics Research Center,School of Mechanical,Electronic and Control Engi-neering,Beijing Jiaotong University,Beijing 100044,China;China Waterborne Transport Research Institute,Beijing 100088,China;Key Laboratory of Vehicle Advanced Manufacturing,Measuring and Control Technology,Ministry of Edu-cation,Beijing Jiaotong University,Beijing 100044,China

文献出处：

中国机械工程学报

引用格式：

[1]Chaoyu Shen;Haibo Qu;Sheng Guo;Xiao Li-.Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy)[J].中国机械工程学报,2022(05):234-251

A类：

B类：

Kinematics,Analysis,Singularity,Avoidance,Parallel,Mechanism,Redundancy,redundancy,considered,as,way,improve,performance,parallel,mechanism,In,this,paper,kinematics,three,degree,freedom,DOF,PM,KR,influence,redundant,parts,are,analyzed,Firstly,model,established,inverse,solutions,Jacobian,matrix,workspace,solved,Secondly,Since,there,exists,possesses,fault,tolerant,By,locking,one,actuating,two,joints,simultaneously,obtained,When,position,changed,singularity,will,be,results,show,that,can,used,avoid,Finally,simulations,performed,theoretical,analysis

AB值：

0.515422

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