Singularity Analysis of a Plane-Symmetry 3-RPS Parallel Robot Based on Translational/Rotational Jacobian Matrices

摘要：

　　Firstly,3-DOF parallel robots were classified into different types from the view of moving form.A new method of analyzing the singularity of 3-DOF parallel robots was introduced,which is based on translational Jacobian matrix and rotational Jacobian matrix.The singularity of parallel robots with pure translational form and pure rotational form was introduced summarily.Secondly,the process of solving the plane-symmetry 3-RPS parallel robot with combined moving forms was focused on,through which translational Jacobian matrix and rotational Jacobian matrix were adopted.Finally,the solving results were compared with the axis-symmetry 3-RPS parallel robot,which showed more general singularity can be solved through the new method.

关键词： Plane-Symmetry 3-RPS Parallel Robot Singularity Translational Jacobian Matrix Rotational Jacobian Matrix

作者: Yan Shi Hongxin Yue Yi Lu Lianhe Guo

作者单位: Power Engineering Department, Hebei Engineering and Technical College, Cangzhou, Hebei,China Mechanical Engineering College, Yanshan University, Qinhuangdao, Hebei, China

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: 1590-1594

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）