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题名:
Singularity Analysis of a Novel 3SPS+PS Bionic Parallel Processing Platform Based on Grassmann Line Geometry
作者: Gu Wei; Cheng Gang; Wan Yong-jian
出版日期: 2010
会议名称: Proceedings of the SPIE - The International Society for Optical Engineering
会议日期: 2010
通讯作者: Gu Wei
中文摘要: For a novel 3SPS+PS parallel bionic processing platform with 4-DOF (degree of freedom) simulating the complex processing path including optical processing and machining, the kinematic model based on Rodrigues parameters is established. The singular configurations of the processing platform are obtained from kinematic poses and geometry essence by means of Grassmann line geometry. The numerical simulations show the motion curves and surfaces of the singular configurations with lower linear variety of rank 1 to 3. Then the distribution characteristics of the singular trajectories are studied. It provides an analytical basis for workspace construction, singularity avoidance, and size optimization of the parallel bionic processing platform, as well as the other parallel manipulators.
英文摘要: For a novel 3SPS+PS parallel bionic processing platform with 4-DOF (degree of freedom) simulating the complex processing path including optical processing and machining, the kinematic model based on Rodrigues parameters is established. The singular configurations of the processing platform are obtained from kinematic poses and geometry essence by means of Grassmann line geometry. The numerical simulations show the motion curves and surfaces of the singular configurations with lower linear variety of rank 1 to 3. Then the distribution characteristics of the singular trajectories are studied. It provides an analytical basis for workspace construction, singularity avoidance, and size optimization of the parallel bionic processing platform, as well as the other parallel manipulators.
语种: 英语
卷号: 7655
文章类型: 会议论文
页码: 76550Z (10 pp.)
内容类型: 会议论文
URI标识: http://ir.ioe.ac.cn/handle/181551/7571
Appears in Collections:先光中心_会议论文

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作者单位: 中国科学院光电技术研究所

Recommended Citation:
Gu Wei,Cheng Gang,Wan Yong-jian. Singularity Analysis of a Novel 3SPS+PS Bionic Parallel Processing Platform Based on Grassmann Line Geometry[C]. 见:Proceedings of the SPIE - The International Society for Optical Engineering. 2010.
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文件名: 2010-139.pdf
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