| Direct Singular Positions of the Parallel Manipulator Tricept | |
|---|---|
| 學年 | 95 |
| 學期 | 1 |
| 出版（發表）日期 | 2007-01-01 |
| 作品名稱 | Direct Singular Positions of the Parallel Manipulator Tricept |
| 作品名稱（其他語言） | |
| 著者 | 劉昭華; Liu, C. H.; Hsu, F. K. |
| 單位 | 淡江大學機械與機電工程學系 |
| 出版者 | London: Sage Publications Ltd. |
| 著錄名稱、卷期、頁數 | Proceedings of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science 221(1), pp.109-117 |
| 摘要 | In this article, the direct singular positions of the parallel manipulator Tricept are determined. An alternative 3 x 3 Jacobian matrix, simpler than the existing one, is obtained in this study. For a given moving platform's orientation, the determinant of this Jacobian matrix may be expressed as a cubic polynomial in moving platform's equation length. Direct singular positions may thus be obtained by solving cubic polynomial equations. For an arbitrarily chosen moving platform's orientation, there exists at least one moving platform's extension length that causes direct kinematic singularity. It is found that if moving platform's size is larger than a specific value, then within the moving platform's domain there exist two regions, in which direct kinematic singularities can only occur at positions impossible to reach. |
| 關鍵字 | |
| 語言 | en |
| ISSN | 0954-4062 |
| 期刊性質 | 國外 |
| 收錄於 | SCI EI |
| 產學合作 | |
| 通訊作者 | |
| 審稿制度 | 否 |
| 國別 | GBR |
| 公開徵稿 | |
| 出版型式 | ,紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/50535 ) |
| SDGS | 尊嚴就業與經濟發展,產業創新與基礎設施 |
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