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On Singularities of Planar 3-RPR Parallel Manipulators
並列摘要
Although singularities of planar parallel manipulators have been treated extensively, this paper wants to draw the attention to a fact that seemingly has been overlooked in almost all the papers. It will be shown, that, even when all solutions of the direct kinematics coincide, the manipulator does not have a self motion. Furthermore it is shown that even this sixfold solution of the direct kinematics corresponds only to rank deficiency one of the Jacobian matrix. Rank deficiency two is in general not possible for this type of manipulator, but if one design condition is fulfilled then the manipulator can have local mobility two.
被引用紀錄
蔡孟龍（2009）。兩種3-PUU並聯式機械手臂之正向奇異位置分析〔碩士論文，淡江大學〕。華藝線上圖書館。https://doi.org/10.6846/TKU.2009.01201
林昆郁（2008）。兩種3-PUU並聯式機械手臂之運動學〔碩士論文，淡江大學〕。華藝線上圖書館。https://doi.org/10.6846/TKU.2008.01057
Hsiao, P. Y. (2011). 非同步多核心處理器之訊息傳遞閉鎖機制設計 [master's thesis, National Chiao Tung University]. Airiti Library. https://doi.org/10.6842/NCTU.2011.01014
翁茂樵（2009）。機器人控制與錯誤診斷系統〔碩士論文，國立交通大學〕。華藝線上圖書館。https://doi.org/10.6842/NCTU.2009.00393
Chu, T. S. (2014). 應用於多人環境下以自我社交網路分析達成社交輔助機器人之活動推薦系統 [master's thesis, National Taiwan University]. Airiti Library. https://doi.org/10.6342/NTU.2014.01471
延伸閱讀
- Samsonov, V. A., & Selyutskiy, Y. D. (2015). On Behavior of Mechanisms with Singularities. Proceedings of the 14th IFToMM World Congress, (), 103-109. https://doi.org/10.6567/IFToMM.14TH.WC.OS4.017
- 馬智明（2005）。Direct Kinematic Singularity Analysis of the Parallel Manipulator MIPS〔碩士論文，淡江大學〕。華藝線上圖書館。https://doi.org/10.6846/TKU.2005.00714
- 林俊呈（2017）。Search of 6-Dof parallel manipulators with maximal singularity-free point space。蘭陽學報，(16)，86-95。https://www.airitilibrary.com/Article/Detail?DocID=a0000316-201707-201709200004-201709200004-86-95
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