Determination of Singularity-Free Zones in the Workspace of Planar Parallel Mechanisms with Revolute Actuators

摘要：

　　The singularity-free workspace of parallel mechanisms is important in the trajectory planning and the kinematic design of the mechanisms.The planar parallel mechanism with revolute actuators,which the expression for the singularity locus and the algorithms for determining the singularity-free zones involve both the Cartesian and the joint variables,has been studied in the paper.Algorithms are proposed here to simplify the determination of the singularity-free zones in Cartesian space.The methodology and procedures for determining the singularity-free zones of planar parallel mechanisms with revolute actuators are introduced.The numerical results show that the simplified algorithms and the techniques are correct and efficient in determining singularity-free zones in the workspace of planar parallel mechanisms.

关键词： Singularity-free zones 3-RRR parallel mechanisms Trajectory planning design parameters

作者: Shujun Li CIément Gosselin

作者单位: College of Mechanical Engineering and Automation, Northeastern University, Shenyang 110004, PR China Department of Mechanical Engineering, Laval University, Quebec, Quebec G1K 7P4, Canada

会议类型: 国际会议

会议名称: the Second International Conference on Frontiers of Manufacturing and Design Science(第二届制造与设计科学国际会议(ICFMD 2011))

会议地点: 台湾

会议语种:英文

页码: 1992-1996

在线出版日期: 2011-12-11（万方平台首次上网日期，不代表论文的发表时间）