Analysis of Jacobian and Singularity of Planar Parallel Robots Using Screw Theory

被引：0
|
作者：
Choi, Jung Hyun [1 ]
Lee, Jeh Won [1 ]
Lee, Hyuk Jin [1 ]
机构：
[1] Yeungnam Univ, Dept Mech Engn, Gyongsan, South Korea
来源：
TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS A | 2012年 / 36卷 / 11期
关键词：
Screw Theory; Redundant; Jacobian; Singularity; Parallel Robot;
D O I：
10.3795/KSME-A.2012.36.11.1353
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The Jacobian and singularity analysis of parallel robots is necessary to analyze robot motion. The derivations of the Jacobian matrix and singularity configuration are complicated and have no geometrical earning in the velocity form of the Jacobian matrix. In this study, the screw theory is used to derive the Jacobian of parallel robots. The statics form of the Jacobian has a geometrical meaning. In addition, singularity analysis can be performed by using the geometrical values. Furthermore, this study shows that the screw theory is applicable to redundantly actuated robots as well as non-redundant robots.
引用
收藏
页码：1353 / 1360
页数：8
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