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Singular Position of Manipulator with Single Open loop Structure(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
1997年01期
Page:
37-40
Research Field:
Publishing date:

Info

Title:
Singular Position of Manipulator with Single Open loop Structure
Author(s):
BiZhuming WuRuimin
School of Manufacturing Engineering,NUST,Nanjing 210094
Keywords:
kinematics sing ularity manipulator
PACS:
TP242
DOI:
-
Abstract:
Sing ular analysis of a ro bot manipulator is a key pro blem o f ro bot ics kinemat ics. T he paper tr ies to reso lve the sing ular surfaces of the manipulator w ith sing le open-loo p st ructure and limited r evo lut ion or t ranslat io n joints. The singular condit ion is given using the screw theory first ly, and it is used as the basis for cho osing the surfaces parameters. Finally , the r ecur sive alg orithm is prov ided to r esolve the sing ular surface of this kind of manipulator. A po pular softw are to f ind the singular surfaces of actual manipulors is developed.

References:

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2  Bi Zhuming. Determination o f singular sur face of ro bo t manipulator . ASM E Mechanism Conference. M inneapo lis: Pur due Univ ersity , 1994, DE- 72. 497- 501
3 Oblak D. Boundar y sur faces, limit surfaces, cr ossable and no ncr ossable sur faces in wo r kspace o f m echanical ma nipulator s. J of Mechanisms, Tr ansmission, and Automat ion in Design,1988, 110: 389~396
4 Lipkin H. Eumer ation o f sing lular configurat ion for ro bo tic manipulat or s. T ra nsactio ns o f the ASM E, 1991, 113: 272~279

Memo

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Last Update: 2013-03-29