摘要
基于拓扑学和微分几何等数学工具研究并联机构位形空间的拓扑几何性质,并据此对并联机构中存在的奇异位形进行分类,揭示了各种奇异位形的不同物理意义,同时给出了不同奇异位形的计算方法。该方法适用于一般并联机构的奇异位形计算。最后对几种典型并联机构的奇异性进行了分析。
The various topological and geometrical properties of configuration spaces of parallel manipulators are researched using differentiable geometry tools. A finer classification and identification method for singularities in parallel mechanisms is presented and the underlying physical meaning of the various singularities is discussed. The proposed analysis approach can be applied to general parallel manipulators. Some classical parallel manipulators are tested and the results verify the effectiveness of the proposed theory.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2004年第4期26-31,共6页
Journal of Mechanical Engineering
基金
国家自然科学基金-香港青年学者合作研究基金资助项目(50029501)
关键词
并联机构
奇异位形
位形空间
微分几何
拓扑学
Parallel manipulator Singular configuration Configuration spaces Differentiable geometry
