Singularity and path-planning with the working mode conversion of a 3-DOF 3-RRR planar parallel manipulator

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• 作者：Sheng Liu ; Zhi-cheng Qiu ; Xian-min Zhang ; ^{zhangxm@scut.edu.cn}
• 关键词：3-RRR parallel manipulator ; Singularity avoidance ; Working mode conversion ; Path planning ; Experiments
• 刊名：Mechanism and Machine Theory
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：107
• 期：Complete
• 页码：166-182
• 全文大小：2960 K
• 卷排序：107

文摘

The singularity analysis of a 3-RRR planar PM is presented. An algorithm is proposed for path-planning with the working mode conversion. Experiments verify the uncertainty characteristics of the forward singularity. Experiments verify the feasibility and significance of the working mode conversion.