期刊論文
| 學年 | 99 |
|---|---|
| 學期 | 1 |
| 出版（發表）日期 | 2010-11-09 |
| 作品名稱 | Graphical Analysis for Locating Direct Singular Positions of the Parallel Manipulator MIPS |
| 作品名稱（其他語言） | |
| 著者 | Liu, C. H.; Ma, Chih-Ming |
| 單位 | 淡江大學機械與機電工程學系 |
| 出版者 | Philadelphia: Taylor & Francis Inc. |
| 著錄名稱、卷期、頁數 | Mechanics Based Design of Structures and Machines 38(4), p.453–467 |
| 摘要 | It is shown in this study the graphical analysis using velocity polygons may be used to locate direct singular positions of a limited degree-of-freedom (DOF) parallel manipulator. The three DOF parallel manipulator MIPS is treated for illustration. The conditions for the moving platform to become movable under zero driving speeds can be obtained using the graphical velocity analysis. Manipulator configurations satisfying these conditions are direct singular positions. Several direct singular positions are determined using this technique. In order to verify these singular positions, Jacobian matrix for this manipulator is also derived in this study, and singular positions determined from graphical analysis can make the Jacobian matrix singular. |
| 關鍵字 | Direct kinematic singularity;Graphical method;Kinematics of machinery;Parallel manipulator—MIPS;Parallel robot |
| 語言 | en |
| ISSN | 1539-7734; 1539-7742 |
| 期刊性質 | 國外 |
| 收錄於 | SCI EI |
| 產學合作 | |
| 通訊作者 | Liu, C. H. |
| 審稿制度 | 否 |
| 國別 | USA |
| 公開徵稿 | |
| 出版型式 | ,電子版,紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/65315 ) |