Removal of singularities in the inverse dynamics of parallel robots

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• 作者：Mustafa Ö ; zdemir ^{mustafa.ozdemir@marmara.edu.tr}
• 关键词：Parallel robot ; Inverse dynamics ; Singularity ; Removable singularity
• 刊名：Mechanism and Machine Theory
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：107
• 期：Complete
• 页码：71-86
• 全文大小：899 K
• 卷排序：107

文摘

Motion stability of parallel robots near type II singularities is studied. Consistency of the dynamic model at singularity is not sufficient for this aim. The additional necessary conditions are analytically derived. With the new conditions, type II singularities can be removed from the dynamic model. Concepts of natural and actual orders of type II singularities are proposed.