| 引用本文: | 吴宇列,吴学忠,刘冠峰,等.并联机构奇异点分析的新方法.[J].国防科技大学学报,2001,23(6):95-98.[点击复制] |
| WU Yulie,WU Xuezhong,LIU Guanfeng,et al.A New Method for Singularity Analysis of Parallel Manipulators[J].Journal of National University of Defense Technology,2001,23(6):95-98[点击复制] |
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| 并联机构奇异点分析的新方法 |
| 吴宇列1, 吴学忠1, 刘冠峰2, 李圣怡1 |
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(1.国防科技大学 机电工程与自动化学院，湖南 长沙 410073;2.香港科技大学 电气与电子工程系，香港)
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| 摘要: |
| 根据并联机构位形空间的特点，采用微分几何和微分拓扑的方法，提出了一种并联机构奇异点的新的分类方法，即分为拓扑奇异点，参数化奇异点两种类型，并把它与现有的几种分类方法进行了比较。 |
| 关键词: 并联机构 奇异点 流形 拓扑 |
| DOI： |
| 投稿日期：2001-04-11 |
| 基金项目:国家自然科学基金海外青年合作研究基金(50029501) |
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| A New Method for Singularity Analysis of Parallel Manipulators |
| WU Yulie1, WU Xuezhong1, LIU Guanfeng2, LI Shengyi1 |
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(1.College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China;2.Department of Electrical and Electronics Engineering, Hong Kong University of Scence and Technology, Hong Kong)
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| Abstract: |
| Based on the property of configuration space of parallel manipulators and by using differential geometry and topology, this paper proposes a new approach for the classification of singularity of parallel manipulators, two types of singularity are obtained, i.e, topology singularity and parameterization singularity. Also comparisons with existing classification methods are made. |
| Keywords: parallel mechanisms singularity manifolds topology |
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