| 并联机器人的奇异形位分析 |
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| 引用本文： | 华为实.并联机器人的奇异形位分析[J].电子科技大学学报(社会科学版),1999(2). |
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| 作者姓名： | 华为实 |
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| 作者单位： | 四川轻化工学院电子工程系!四川，自贡，643033 |
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| 摘 要： | 讨论了并联机器人奇异形位的特点和分析方法，利用plucker坐标矩阵法对DELTA机器人的奇异形位进行了分析，提出了对并联机构进行受力分析来确定奇异形位的简便方法。
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| 关 键 词： | 并联机器人 奇异形位 Plucker坐标矩阵 受力分析 |
Analysis of Singularities of Parallel Robot |
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| Hua Weishi.Analysis of Singularities of Parallel Robot[J].Journal of University of Electronic Science and Technology of China(Social Sciences Edition),1999(2). |
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| Authors: | Hua Weishi |
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| Abstract: | The characteristics and the analytical methods of the singular position of a parallel robot are discussed in this paper A singUlarity analysis of the P10cker coordinate matrix to the DELTA robot is presented. A simple way of using the force analysis to a parallel robot mechanism to determine its singular pasitions is put forward. |
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| Keywords: | parallel robot singular position Plucker coordinate matrix force analysis |
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