Singularity Analysis of SCARA Manipulator Based on Moving Frame Method
Singularity is one of the main kinetic characteristics of manipulator,and Jacobian matrix is the foundation to analyze singularity.Considering the limitation of traditional method analysis of the Jacobian matrix and singularity of manipulator,moving frame method was used in SCARA manipulator.Derive the kinematics equations by moving frame method,and calculate the Jacobian matrix by relative component formulas.Invariants on the surface are applied to analyze the singular configuration and its cause.Comparing with traditional method,computational efficiency is improved and the one-to-one relationship between the kinetic characteristics and abstract mathematics formulas is revealed,the results can give theoretical support to the analysis of complex manipulator.
Moving Frame Method SCARA Manipulator Jacobian Matrix Singularity
Xiaohua HUANG Meixin ZHAI
School of Mechanical Engineering Nanjing University of Science and Technology,Nanjing,P.R.China
国际会议
The 5th International Conference on Mechanical Engineering and Mechanics(第五届国际机械工程与力学会议)
江苏扬州
英文
608-613
2014-08-21(万方平台首次上网日期,不代表论文的发表时间)