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	Position and singularity analysis of 4-SPS/PS parallel manipulator
	Zhou, Jiehua ; Peng, Xiafu ; Peng XF(彭侠夫)
	2012
关键词	Benchmarking Intelligent control Jacobian matrices Kinematics Number theory Singular value decomposition
英文摘要	Conference Name:10th World Congress on Intelligent Control and Automation, WCICA 2012. Conference Address: Beijing, China. Time:July 6, 2012 - July 8, 2012.; Academy of Mathematics and Systems Science; IEEE Robotics and Automation Society; IEEE Control Systems Society; National Natural Science Foundation of China; Chinese Association of Automation; The parallel manipulators with n6 spherical joint-prismatic joint-spherical joint (SPS) type active legs and one passive constrained leg have attracted more attention and been used in many practical applications. This kind of parallel manipulator has a larger capability of load bearing and a simple structure of active leg. The paper used 4-SPS/PS four degree-of-freedom (DOF) parallel manipulator for the simulation of ship's heave and swing motion. Mobility property of the 4-SPS/PS parallel manipulator is analyzed by screw theory. The inverse position kinematics model is established and the analytical solution is obtained. It uses extra sensor and Sylvester resultant elimination to derive analytical solutions of forward position kinematics including two real solutions and two imaginary solutions, and uses vector cross product to derive the Jacobian matrix of 4-SPS/PS parallel manipulator. Furthermore, it introduces three performance indicators to analyze the singularity. In order to obtain accurate analysis results of singularity, it calculates the minimum singular value, condition number and manipulability degree of Jacobian matrix for different combination of pose, respectively. 漏 2012 IEEE.
语种	英语
出处	http://dx.doi.org/10.1109/WCICA.2012.6359083
出版者	Institute of Electrical and Electronics Engineers Inc.
内容类型	其他
源URL	[http://dspace.xmu.edu.cn/handle/2288/86801]
专题	信息技术－会议论文
推荐引用方式 GB/T 7714	Zhou, Jiehua,Peng, Xiafu,Peng XF. Position and singularity analysis of 4-SPS/PS parallel manipulator. 2012-01-01.

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