{"title":"2P3RR平面并联机构工作空间及奇异性分析","authors":"Xuzhao Han, Peng Jin, Suolao Li, Wen Liu, Yuanxiong Zhang, Yi Guo","doi":"10.1145/3483845.3483851","DOIUrl":null,"url":null,"abstract":"Carried out in-depth research for the parallel mechanism 2P3RR, introduced composition of the mechanism, derived the kinematics formulas which include the positive and the inverse solutions of the position, and the Jacobian matrix of the mechanism is obtained. The parallel mechanism's characteristics such as workspace and singularity are analyzed. The workspace of the mechanism is analyzed by graphic method, and the singularity of Jacobian matrix is used to analyze three singular forms of the mechanism. It can be seen that the positive and inverse kinematics solutions have explicit expressions by solving the parallel mechanism kinematics, the workspace is easy to describe and the singularity of the mechanism can be avoided, which lays a theoretical foundation for the design and development of the mechanism and its application in the field of robots and machine tools.","PeriodicalId":134636,"journal":{"name":"Proceedings of the 2021 2nd International Conference on Control, Robotics and Intelligent System","volume":"15 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Workspace and Singularity Analysis of a 2P3RR Planar Parallel Mechanism\",\"authors\":\"Xuzhao Han, Peng Jin, Suolao Li, Wen Liu, Yuanxiong Zhang, Yi Guo\",\"doi\":\"10.1145/3483845.3483851\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Carried out in-depth research for the parallel mechanism 2P3RR, introduced composition of the mechanism, derived the kinematics formulas which include the positive and the inverse solutions of the position, and the Jacobian matrix of the mechanism is obtained. The parallel mechanism's characteristics such as workspace and singularity are analyzed. The workspace of the mechanism is analyzed by graphic method, and the singularity of Jacobian matrix is used to analyze three singular forms of the mechanism. It can be seen that the positive and inverse kinematics solutions have explicit expressions by solving the parallel mechanism kinematics, the workspace is easy to describe and the singularity of the mechanism can be avoided, which lays a theoretical foundation for the design and development of the mechanism and its application in the field of robots and machine tools.\",\"PeriodicalId\":134636,\"journal\":{\"name\":\"Proceedings of the 2021 2nd International Conference on Control, Robotics and Intelligent System\",\"volume\":\"15 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-08-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2021 2nd International Conference on Control, Robotics and Intelligent System\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1145/3483845.3483851\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2021 2nd International Conference on Control, Robotics and Intelligent System","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/3483845.3483851","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Workspace and Singularity Analysis of a 2P3RR Planar Parallel Mechanism
Carried out in-depth research for the parallel mechanism 2P3RR, introduced composition of the mechanism, derived the kinematics formulas which include the positive and the inverse solutions of the position, and the Jacobian matrix of the mechanism is obtained. The parallel mechanism's characteristics such as workspace and singularity are analyzed. The workspace of the mechanism is analyzed by graphic method, and the singularity of Jacobian matrix is used to analyze three singular forms of the mechanism. It can be seen that the positive and inverse kinematics solutions have explicit expressions by solving the parallel mechanism kinematics, the workspace is easy to describe and the singularity of the mechanism can be avoided, which lays a theoretical foundation for the design and development of the mechanism and its application in the field of robots and machine tools.
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