Direct singular positions of the 3PPSR Parallel Minmanipulator
碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 93 === 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 veloc...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2005
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| Online Access: | http://ndltd.ncl.edu.tw/handle/90137148667812840835 |
| Summary: | 碩士 === 淡江大學 === 機械與機電工程學系碩士班 === 93 === 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.
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