Singularity and Kinematics Analysis for a Class of PPUU Mobile Parallel Robots

摘要：

In this paper a class of mobile parallel robots with the structural configuration of PPUU (Prismatic-Prismatic- Universal-Universal) is investigated in detail. Firstly a singularity analysis corresponding to different configured cases of the revolute axes of the robots U-joint based on the screw theory is developed and a brief comparison of the four cases is carried out. Of all four configuration schemes, only FG xE y x U U P P can avoid a singularity by mechanism design rather than complicated trajectory control. Then the inverse kinematics to the FG xE y x U U P P mobile parallel robot is developed. By a numerical approach, the orientation workspace envelope is mapped. This work provides an analytical basis for the design of an MPR prototype.

关键词： Parallel robot mobile robot singularity workspace

作者: Ying Hu Zhong Wan Junfeng Yao Jianwei Zhang

作者单位: Shenzhen Institute of Advanced Integration Technology,Chinese Academy of Sciences/The Chinese Univer Faculty of University of Hamburg,Germany and Chinese Academy of Sciences/The Chinese University of H

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 812-817

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）