The Workspace and Singularity Analysis of the Planar Parallel R-Joint Manipulators

• Main Author: 黃景政
• Other Authors: 黃金沺
• Format: Others
• Language: zh-TW
• Published: 1999
• Online Access: http://ndltd.ncl.edu.tw/handle/34996808586210519552

碩士 === 國立成功大學 === 機械工程學系 === 87 === The Workspace and Singularity Analysis of the Planar Parallel R-Joint Manipulators Parallel Manipulators can provide higher stiffness and accuracy than serial manipulators, but their geometric constraints are usually complicated in analysis. All of these constraint equations are highly nonlinear. As a result, velocity analysis equations are even more complicated if we differentiate the geometric constraint equations with respect to time. For this reason, the workspace and the singularity analysis of parallel manipulators are relatively difficult, and thus the applications of parallel manipulators are limited. To overcome these problems, we need to derive concise velocity equations and regard these equations as a basis of the workspace and singularity analysis of parallel manipulators. In this paper, we are concerned with the analysis of planar parallel R-joint manipulators. We first define branches and configurations of the manipulators. And we analyze the characteristics of the planer 5R manipulator and the planar 3RRR manipulator, including their forward and inverse kinematics, workspaces, and singularities. In the singularity analysis, the relative velocity approach is used to derive concise equations. In order to avoid singularity configurations of the manipulators, we study the singularities for various combinations of actuated joints. This enables us to find the best actuation scheme during motion planning. Two examples of actuation planning are given in this thesis. According to the analyses of planar parallel R-Joint manipulators, this thesis also find the relationships among their workspaces, singularity curves(surfaces), branches, and configurations. We also utilize the concept of force analysis and Grassman geometry to verify the derived equations.