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Abstract:
The various topological and geometrical properties of configuration
spaces of parallel manipulators are researched using differentiable
geometry tools. A finer classification and identification method for
singularities in parallel mechanisms is presented and the underlying
physical meaning of the various singularities is discussed. The proposed
analysis approach can be applied to general parallel manipulators. Some
classical parallel manipulators are tested and the results verify the
effectiveness of the proposed theory.
Key words: Parallel
manipulator Singular configuration Configuration spaces
Differentiable geometry
CLC No: TH112
国家自然科学基金—香港青年学者合作研究基金资助项目(50029501).
Received 30211, received in revised form 20030924
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