【摘要】 并联机器人每个支链由5个转动副组成,通过对支链结构采用坐标变换方法,从而使每个支链等效为一个串联机械手的形式,从而在分析过程中使得原来所要分析的参数由5个减少至4个,降低了分析的难度,这一方法对于今后并联机器人的结构分析方面做出了重要的贡献。为今后的动力学、运动学分析中避免奇异形位做出了理论探索。更多还原

【Abstract】 Each limb composed by five joints characterized 5R pairs respectively.The structure and configuration singularity are discussed in this paper used by screw theory and coordinate transform method which called Depth First Search algorithm.Considered its special structures,relational of geometry provided into account and derived a certainly coefficient Jocabian matrix.Furthermore,this method is also useful for finding multiple loop-chains solutions for the robot as well as for trajectory planning which can avoid the displacement of singularity.As shown by numerical examples of singularity presented in this paper.更多还原