教師資料查詢 | 類別: 期刊論文 | 教師: 劉昭華 LIU CHAO-HWA (瀏覽個人網頁)

標題: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
語言英文
ISSN0954-4062
期刊性質國外
收錄於SCI;EI;
產學合作
通訊作者
審稿制度
國別英國
公開徵稿
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