冗余驱动消除并联机构奇异研究-北京航空航天大学.PDF

27 4 Vol27 No4 2006 7 ACTA AERONAUTICA ET ASTRONAUT ICA SINICA July 2006 :2006) , , ( , 100083) Study on Elimination Singularities of Parallel Mechanism by Actuation Redundancy AI Zhifu, HAN Xianguo, CHEN Wuyi ( School of Mechanical Engineering and Automation, eijing University of Aeronautics and Astronautics, eijing 100083, China) : Park , , 3, , , : ; ; : V2601; TG502. 13 : A Abstract: The singularity of spatial parallel mechanism and its elimination using actuation redundancy are de scribed. ased on Park s classification of singularities, this paper presents the explicit reason of removal sin gularities by actuation redundancy. The near strictly mathematical derivation betw een the number of actuators and the dimensional reduction of singularities is drawn. In addition, the singularity analysis of a 3DOF parallel mechanism is carried out and the shape of singular space is derived. Also, the effectiveness of this singularity removing is studied. The results verify the relation between actuation redundancy and singularity reduction, which provides a reference for further improving the performance of parallel mechanisms. Key words: parallel mechanism; actuation redundancy; singularity [ 8] , Gosselin , , 1, 23 Park[ 9] , , , [ 1] Hunt