| 引用本文: | 沈辉,吴学忠,李泽湘.并联机构中奇异性的稳定性问题.[J].国防科技大学学报,2002,24(5):37-40 ,44.[点击复制] |
| SHEN Hui,WU Xuezhong,LI Zexiang.Stability of Singularity in Parallel Manipulators[J].Journal of National University of Defense Technology,2002,24(5):37-40 ,44[点击复制] |
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| 并联机构中奇异性的稳定性问题 |
| 沈辉, 吴学忠, 李泽湘 |
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(国防科技大学 机电工程与自动化学院，湖南 长沙 410073)
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| 摘要: |
| 将映射理论中的临界点稳定性概念引入并联机构的奇异性分析中，提出稳定奇异性和非稳定奇异性的概念，研究了低维并联机构奇异性的稳定性情况，对几种典型机构的分析验证了这种分类的合理性。提出的分析方法可以为并联机构的机构设计和控制等方面提供理论依据。 |
| 关键词: 并联机构 奇异点 稳定性 微分流形 |
| DOI： |
| 投稿日期：2002-05-10 |
| 基金项目:国家自然科学基金-香港青年学者合作研究基金资助(50029501) |
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| Stability of Singularity in Parallel Manipulators |
| SHEN Hui, WU Xuezhong, LI Zexiang |
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(College of Mechatronics Engineering and Automation,National Univ. of Defense Technology,Changsha 410073,China)
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| Abstract: |
| This paper introduces the concept of the critical points stability of the mapping theory into the singularity analysis of parallel manipulator and proposes the concept of stable singularity and unstable singularity. Some low degree-of-freedom parallel manipulators are researched into and the results verify that the classification of singularities according to their stability is reasonable. The proposed method can provide theoretic foundation for the structure design and control of parallel manipulators. |
| Keywords: parallel manipulator singularity stability differential manifold |
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