Forward Position Solution and Singularity Analysis of a 3SPS+1PS Bionic Parallel Manipulator

Li Yang; Cheng Gang; Feng Lanlan

doi:10.16578/j.issn.1004.2539.2015.05.019

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Forward Position Solution and Singularity Analysis of a 3SPS+1PS Bionic Parallel Manipulator

更新时间：2022-10-20

- Forward Position Solution and Singularity Analysis of a 3SPS+1PS Bionic Parallel Manipulator
- Vol. 39, Issue 5, Pages: 76-79(2015)
- 作者机构：
  
  1. 中国矿业大学机电工程学院
  2. 浙江大学机械工程学系
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.05.019
  CLC：
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[1]李阳,程刚,冯兰兰.3SPS+1PS仿生并联机构位姿正解和奇异性分析[J].机械传动,2015,39(05):76-79.

Li Yang, Cheng Gang, Feng Lanlan. Forward Position Solution and Singularity Analysis of a 3SPS+1PS Bionic Parallel Manipulator. [J]. 39(5):76-79(2015)
[1]李阳,程刚,冯兰兰.3SPS+1PS仿生并联机构位姿正解和奇异性分析[J].机械传动,2015,39(05):76-79. DOI： 10.16578/j.issn.1004.2539.2015.05.019.

Li Yang, Cheng Gang, Feng Lanlan. Forward Position Solution and Singularity Analysis of a 3SPS+1PS Bionic Parallel Manipulator. [J]. 39(5):76-79(2015) DOI： 10.16578/j.issn.1004.2539.2015.05.019.

摘要

为克服传统串联式的髋关节试验机在高速度、大承载、复杂运动模拟方面的不足,试制了一台以3SPS+1PS并联机构为核心运动模块的并联式髋关节试验机,而复杂的位姿正解和奇异性是其应用的难点之一。以动平台铰点坐标建立了易于消元的位姿正解解析模型,获得了只含单一变量的高次输入输出方程,证明其最多有8组正解。根据Jacobian矩阵分析了试验机在设计工况下的奇异状态,结合位姿正解证明出现的2个奇异点全为由构型重合造成的正向奇异,并给出了相应的奇异规避策略。

Abstract

In order to overcome the defects of traditional serial hip joint testing machine on high speed,complex motion simulation and large dynamic loading,aparallel hip joint testing machine with a3SPS+1PS spatial parallel manipulator as the core module is developed.The complicated forward position solution and the singularity are significant difficulties of its application.An analytical model of forward position analysis is built with the coordinates of hinge points on the moving platform and a univariate polynomial equation of higher degree is obtained,proving that there exist 8forward solution for a single input at most.The singular status of the testing machine under required motions is investigated according to the Jacobian matrix.The two singular points are proved to be the forward singularities caused by the overlaps of the forward position solution.Then the corresponding avoidance strategy is given.

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并联机构位姿正解解析算法奇异性

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