A Geometric Approach for Singularity Analysis of 3-DOF Planar Parallel Manipulators using Grassmann-Cayley Algebra

摘要：

　　A geometric approach is introduced to identify singular condition of planar parallel manipulators (PPMs) in this paper.The foundation of mathematics we used is the basic conceptions of screw theory and Grassmann-Cayley algebra (GCA).Different from the usual method which is based on kinematics Jacobian matrix.The technique presented here is based on statics Jacobian matrix since the statics Jacobian can be obtained easier than the kinematics ones.The singular configurations can be divided into three classes.This approach is applied to all of the ten types common PPMs,each of them consists of 3 identical legs.And each leg consists of one actuated joint and two passive joints.

作者: Wenbin Deng Kefei Wen Jehwon Lee

作者单位: GSK CNC EQUIPMENT CO.,LTD.No.22,Guanda Road,Yunpu Industrial Area,Luogang District,Guangzhou,China School of Mechanical Engineering,Yeungnam University,Gyeongsan 712-749,Republic of Korea

会议类型: 国际会议

会议名称: The 3th IFToMM Asian Conference on Mechanism and Machine Science 2014 International Conference on Mechanism and Machine Science,2014(第三届IFTOMM亚洲机构与机器科学会议暨2014海峡两岸机构学学术会议)

会议地点: 天津

会议语种:英文

页码: 1-5

在线出版日期: 2014-07-06（万方平台首次上网日期，不代表论文的发表时间）