Screw Theory Based Singularity Analysis of Lower-Mobility Parallel Robots considering the MotionForce Transmissibility and Constrainability
المؤلفون المشاركون
Chen, Xiang
Xie, Fugui
Liu, Xin-Jun
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2015، العدد 2015 (31 ديسمبر/كانون الأول 2015)، ص ص. 1-11، 11ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2015-01-22
دولة النشر
مصر
عدد الصفحات
11
التخصصات الرئيسية
الملخص EN
Singularity is an inherent characteristic of parallel robots and is also a typical mathematical problem in engineering application.
In general, to identify singularity configuration, the singular solution in mathematics should be derived.
This work introduces an alternative approach to the singularity identification of lower-mobility parallel robots considering the motion/force transmissibility and constrainability.
The theory of screws is used as the mathematic tool to define the transmission and constraint indices of parallel robots.
The singularity is hereby classified into four types concerning both input and output members of a parallel robot, that is, input transmission singularity, output transmission singularity, input constraint singularity, and output constraint singularity.
Furthermore, we take several typical parallel robots as examples to illustrate the process of singularity analysis.
Particularly, the input and output constraint singularities which are firstly proposed in this work are depicted in detail.
The results demonstrate that the method can not only identify all possible singular configurations, but also explain their physical meanings.
Therefore, the proposed approach is proved to be comprehensible and effective in solving singularity problems in parallel mechanisms.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Chen, Xiang& Liu, Xin-Jun& Xie, Fugui. 2015. Screw Theory Based Singularity Analysis of Lower-Mobility Parallel Robots considering the MotionForce Transmissibility and Constrainability. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1073951
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Chen, Xiang…[et al.]. Screw Theory Based Singularity Analysis of Lower-Mobility Parallel Robots considering the MotionForce Transmissibility and Constrainability. Mathematical Problems in Engineering No. 2015 (2015), pp.1-11.
https://search.emarefa.net/detail/BIM-1073951
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Chen, Xiang& Liu, Xin-Jun& Xie, Fugui. Screw Theory Based Singularity Analysis of Lower-Mobility Parallel Robots considering the MotionForce Transmissibility and Constrainability. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1073951
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1073951
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
تقوم هذه الخدمة بالتحقق من التشابه أو الانتحال في الأبحاث والمقالات العلمية والأطروحات الجامعية والكتب والأبحاث باللغة العربية، وتحديد درجة التشابه أو أصالة الأعمال البحثية وحماية ملكيتها الفكرية. تعرف اكثر