Singularity-avoiding input parameter value space method for avoiding kinematic singularity in parallel mechanisms

A technology for inputting parameters and mechanism motion, applied in electrical digital data processing, special data processing applications, instruments, etc., can solve the problem of not ensuring that the spatial distribution surface of singular positions does not have other singular position distribution surfaces, and achieve high load capacity. , easy to implement, simple effect

Active Publication Date: 2014-04-09
CHINA UNIV OF PETROLEUM (EAST CHINA)
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Problems solved by technology

Since the 3D surface drawing command in Mathematica can only draw one of the spatial distribution surfaces, and there is no guarantee that there will be no other singular position distribution surfaces inside the drawn singular position spatial distribution

Method used

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  • Singularity-avoiding input parameter value space method for avoiding kinematic singularity in parallel mechanisms
  • Singularity-avoiding input parameter value space method for avoiding kinematic singularity in parallel mechanisms
  • Singularity-avoiding input parameter value space method for avoiding kinematic singularity in parallel mechanisms

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Embodiment

[0027] Below to figure 2 The 3SPS-3PRS parallel mechanism shown in a is taken as an example, and the specific implementation process of the present invention is described in detail.

[0028] The working requirements of the 3SPS-3PRS parallel mechanism are as follows figure 2 as shown in b. When the center of the moving platform is at point P, the moving platform can realize the universal deflection (synthetic deflection around the x-axis and y-axis) of its normal relative to the fixed platform axis (z-axis) θ 2 ; At point Q, the universal rotation angle of the moving platform is θ 1 ; At other positions between two points, the universal deflection angle of the moving platform is between θ 1 ~θ 2 between.

[0029] Step 1: Construct the singular position spatial distribution surface of the parallel mechanism with the input parameters as the coordinate axes.

[0030] Establish the configuration equation F(x,μ)=0 of the parallel mechanism. The configuration parameter x ca...

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Abstract

The invention relates to a singularity-avoiding input parameter value space method for avoiding kinematic singularity in parallel mechanisms and belongs to technologies of avoiding parallel mechanisms kinematic singularity in the field of robotic mechanism. The method mainly includes: constructing parallel mechanism singularity position space distribution surfaces using input parameters as all coordinate axes; constructing inscribed envelope surface of the space distribution surfaces to obtain singularity-avoiding input parameter value space distribution surfaces; selecting proper operating points in the singularity-avoiding input parameter value space distribution surfaces, and determining the value ranges of input parameters meeting the operation requirements; determining the value ranges of the input parameters are in the singularity-avoiding input parameter value space distribution surfaces, and eliminating kinematic singularity in the parallel mechanisms during a design phase. The method is simple, universal and easy to implement; the method is directly applicable to eliminating kinematic singularity of operating space of the parallel mechanisms during the design phase and preventing the parallel mechanisms from running into a state of kinematic singularity during a control phase.

Description

technical field [0001] The invention relates to a method for avoiding the motion singularity of a parallel mechanism, in particular to a singularity-free input parameter value space method for avoiding the motion singularity of the parallel mechanism. Background technique [0002] Singularity of motion is an inherent property of parallel mechanisms. Different from the movement singularity of the series mechanism, which mostly occurs at the boundary, the movement singularity of the parallel mechanism mainly occurs inside the working space. The outstanding features are: locking the length of the drive, the moving platform can still obtain one or several degrees of freedom, the moving platform is out of control, and its load capacity A sharp decline. The singular motion of the parallel mechanism seriously restricts its application in major projects, such as aerospace and other fields. Therefore, eliminating the influence of motion singularities on parallel mechanisms is of gr...

Claims

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Application Information

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IPC IPC(8): G06F19/00
Inventor 李雨桐王玉新
Owner CHINA UNIV OF PETROLEUM (EAST CHINA)
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