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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| Format: | Article |
| Language: | zho |
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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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| author | 许兆棠 陈小岗 张恒 吴蒙蒙 陈前亮 刘远伟 |
| author_facet | 许兆棠 陈小岗 张恒 吴蒙蒙 陈前亮 刘远伟 |
| author_sort | 许兆棠 |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-e26cf68f594042c0b6f77c6147e59f13 |
| institution | DOAJ |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2014-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-e26cf68f594042c0b6f77c6147e59f132025-08-20T03:07:54ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392014-01-0138757888645114并联机构的运动伪奇异分析许兆棠陈小岗张恒吴蒙蒙陈前亮刘远伟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.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2014.04.009 |
| spellingShingle | 许兆棠 陈小岗 张恒 吴蒙蒙 陈前亮 刘远伟 并联机构的运动伪奇异分析 Jixie chuandong |
| title | 并联机构的运动伪奇异分析 |
| title_full | 并联机构的运动伪奇异分析 |
| title_fullStr | 并联机构的运动伪奇异分析 |
| title_full_unstemmed | 并联机构的运动伪奇异分析 |
| title_short | 并联机构的运动伪奇异分析 |
| title_sort | 并联机构的运动伪奇异分析 |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2014.04.009 |
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