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	The free mobility of a parallel manipulator
	Zhao, Jing-Shan ; Feng, Zhi-Jing ; Wang, Li-Ping ; Dong, Jing-Xin
	2010-05-10 ; 2010-05-10 ; SEP,OCT
关键词	parallel manipulator mobility kinematic chain reciprocal screw theory singular value decomposition SINGULARITY ANALYSIS KINEMATIC CHAINS STEWART PLATFORM MECHANISMS CONFIGURATIONS CLASSIFICATION GEOMETRY SYSTEMS ROBOT Robotics
中文摘要	Singularities of a manipulator have been addressed repeatedly. However, the singularities and the degree(s) of freedom, as a matter of fact, are two different aspects of the mobility of a manipulator. Consequently, this paper dedicates to discussing the mobility properties through mobility space, which synchronously define the type, number and direction characteristics of the independent motions that the manipulator should execute. The mobility space of a manipulator can be obtained with reciprocal screws of the manipulator via singular value decomposition, which instantaneously depicts the singularity and mobility problems of the manipulators. Application example demonstrates that this methodology can investigate the all-sided mobility properties of parallel manipulators.
语种	英语 ; 英语
出版者	CAMBRIDGE UNIV PRESS ; NEW YORK ; 32 AVENUE OF THE AMERICAS, NEW YORK, NY 10013-2473 USA
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/24775]
专题	清华大学
推荐引用方式 GB/T 7714	Zhao, Jing-Shan,Feng, Zhi-Jing,Wang, Li-Ping,et al. The free mobility of a parallel manipulator[J],2010, 2010, SEP,.
APA	Zhao, Jing-Shan,Feng, Zhi-Jing,Wang, Li-Ping,&Dong, Jing-Xin.(2010).The free mobility of a parallel manipulator..
MLA	Zhao, Jing-Shan,et al."The free mobility of a parallel manipulator".(2010).

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