Traversing the singularity hypersurface by applying the input disturbances to 6-SPS parallel manipulator

作     者：Yu-tong LI Yu-xin WANG Shuang-xia PAN Rui-qin GUO 

作者机构：College of Mechanical Engineering and Energy Zhejiang University Hangzhou 310027 China Department of Mechanical Engineering Tongji University Shanghai 200092 China 

基　　金：Project (Nos. 50375111 and 50675188) supported by the National Natural Science Foundation of China 

出 版 物：《Journal of Zhejiang University-Science A(Applied Physics & Engineering)》 (浙江大学学报（英文版）A辑（应用物理与工程）)

年 卷 期：2008年第9卷第11期

页      码：1539-1551页

摘      要：The singular points of a 6-SPS Stewart platform are distributed on the multi-dimensional singularity hypersurface in the task-space, which divides the workspace of the manipulator into several singularity-free regions. Because of the motion un- certainty at singular points, while the manipulator traverses this kind of hypersurface from one singularity-free region to another, its motion cannot be predetermined. In this paper, a detailed approach for the manipulator to traverse the singularity hypersurface with its non-persistent configuration is presented. First, the singular point transfer disturbance and the pose disturbance, which make the perturbed singular point transfer horizontally and vertically, respectively, are constructed. Through applying these dis- turbances into the input parameters within the maximum loss control domain, the perturbed persistent configuration is transformed into its corresponding non-persistent one. Under the action of the disturbances, the manipulator can traverse the singularity hy- persurface from one singularity-free region to another with a desired configuration.

主 题 词：平行机械手 单一超曲面 移动范围 机械设计 

学科分类：0810[工学-土木类] 08[工学] 080203[080203] 0805[工学-能源动力学] 0802[工学-机械学] 0812[工学-测绘类] 

核心收录：

D　O　I：10.1631/jzus.A0720034

馆 藏 号：203317404...