并联机器人PAR4的奇异表示与工作空间确定

2020 20th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA) Pub Date : 2020-12-20 DOI:10.1109/STA50679.2020.9329346

A. Saidi, Neila Mezghani Ben Romdhane

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引用次数: 0

摘要

研究了并联机器人PAR4的奇异表示和工作空间的确定问题。序列奇点(类型1)是用运动学矩阵确定的。这种类型的奇点指示了工作空间中不可到达的点。基于并联机器人PAR4的逆几何模型(MGI)，确定了其工作空间。数值结果显示了一类奇异点及其在机器人PAR4中的表示。并给出了该机器人的工作空间。

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Singularity representation and workspace determination of the parrallel robot PAR4

In this paper, the Singularity representation and workspace determination of the parrallel robot PAR4 are presented. The serial singularity (type 1) is determined using the kinematic matrix. This type of singularity indicates the unreachable points in the workspace. Based on the inverse geomatric model (MGI) of the parallel robot PAR4 the workspace is determined. Numerical results are presented showing some singularity of type 1 and their representation of the robot PAR4. Also, the workspace of this robot is presented.

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来源期刊

2020 20th International Conference on Sciences and Techniques of Automatic Control and Computer Engineering (STA)

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