通过平均法构造平面3-RPR并联机器人更高阶的奇异构型
Higher-Order Flexible Configurations of Planar Parallel Manipulators Constructed by Averaging
- 用平均技术处理正解问题的解对，生成新构型
- 无需求解6次多项式零点即可提升构型柔度阶数
- 方法可推广至球面与空间类似机构研究
本文研究平面3-RPR并联机器人的奇异构型，这些构型源于对其正解问题解对应用平均技术。无需计算对应6次多项式的零点，即可参数化输入对，并确定其相对姿态，使平均后构型的柔度阶数提升。文中还对具体实例进行了可视化展示。所提出的方法亦可用于研究平面3-RPR并联机器人的球面与空间类比机构。
原文摘要 · Abstract (English)
This paper investigates singular configurations of planar 3-RPR parallel manipulators, which result from applying the averaging technique to solution pairs of their direct kinematic problem. Without computing the zeros of the corresponding degree 6 polynomial we parametrize the input pairs and determine their relative orientation in a way that the flexion order of the averaged configurations increases. Moreover, the obtained results are visualized for concrete examples. The presented methodology can also be used for studying the spherical and spatial analogues of planar 3-RPR parallel manipulators.
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