文章基本信息

标题：Constraint Conditions Determination for Singularity-free Workspace of Central Symmetric Parallel Robots
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作者：Rui Zeng ; Rui Zeng ; Shuling Dai 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：3
页码：1930-1935
DOI：10.1016/j.ifacol.2015.06.369
语种：English
出版社：Elsevier
摘要：Abstract The kinematic map between actuators and end-effector in parallel robot is one of the main constraints for its workspace. With a geometric analysis on the map, this paper reveals the internal characteristics of the central symmetric parallel robot workspace, and presents a series of topology based constraint conditions for the numerical calculation in singularity-free workspace optimization. We use homeomorphism theorems and finite distortion principles to introduce these constraints, and explain how the singularity-free workspace can be considered as a simple connected set under these conditions. Finally, we determine the constraint conditions for two typical central symmetric parallel robots: the 3- RPR structure planar parallel robot and the 6-SPS structure Stewart parallel robot. And the constraint conditions are applied in the singularity-free workspace optimization respectively.
关键词：KeywordsParallel RobotSingularityTopologyOptimization