並聯式機械手臂3PPSR的正向奇異位置

Direct singular positions of the 3PPSR Parallel Minmanipulator

蕭凱澤(Kai-Tse Hsiao)

指導教授 ： 劉昭華

淡江大學/工學院/機械與機電工程學系碩士班/碩士(2005年)

https://doi.org/10.6846/TKU.2005.00744

摘要

本研究使用速度分析的圖形法以尋找3PPSR並聯式機械手臂的正向奇異位置。推導出驅動器靜止情況下活動平台的速度關係式，當活動平台的 速度不必為零的情況，即是發生正向奇異位置的條件。本文並利用這條件找出數種3PPSR並聯式機械手臂的正向奇異位置，並探討在此位置活動平台可能的瞬間運動。並與利用Jacobian矩陣尋找正向奇異位置的方法作比較。

關鍵字

3PPSR並聯式機械手臂 ； 正向奇異位置 ； 速度分析圖形法

並列摘要

It is shown in this thesis that direct singular positions of parallel manipulators may be determined by using graphical method for velocity analysis. The 6-DOF 3PPSR parallel manipulator is used as an example for graphical analysis. The moving platform’s velocity under zero actuating speeds is obtained. Direct kinematic singularity happens when this velocity is nonzero. Several direct singular positions are found in this thesis. It is shown that moving platform’s instantaneous motion at a direct singular position can also be found. The method of determining direct singular positions of this particular manipulator by using Jacobian matrix is also discussed.

並列關鍵字

3PPSR parallel manipulator ； direct singular position ； graphical method for velocity analysis

參考文獻

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