并联机构的运动伪奇异分析
To solve the problem of whether or not singularity when moving platform rotating around second moving shaft of a moving coordinate system at 0or 90,the movement pseudo singularity of a parallel mechanism is analyzed.Combininging a Stewart cross-legged parallel mechanism,under the condition of moving...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2014-01-01
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| Series: | Jixie chuandong |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2014.04.009 |
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| Summary: | To solve the problem of whether or not singularity when moving platform rotating around second moving shaft of a moving coordinate system at 0or 90,the movement pseudo singularity of a parallel mechanism is analyzed.Combininging a Stewart cross-legged parallel mechanism,under the condition of moving platform rotating around second moving shaft of a moving coordinate system at 0,the movement pseudo singularity of a parallel mechanism produced by z-y-z Euler angle is introduced.From aspects of a rotation angle around a moving shaft and moving coincidence shaft,the reason and location of movement pseudo singularity are analyzed.It is presented that reason of movement pseudo singularity is that description of parameter differential of a moving platform degenerates from angles of rotating around three moving shafts to angles of rotating around two moving shafts.Coincidence location of first-end moving shaft of 12kinds of Euler angle is location of movement pseudo singularity of a parallel mechanism. |
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| ISSN: | 1004-2539 |