Graphical Analysis for Locating Direct Singular Positions of the Parallel Manipulator MIPS
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
國別 USA
公開徵稿
出版型式 ,電子版,紙本
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