一种五自由度并联机器入奇异位形分析

机器人工作中的安全性有很大的一部分决定于机器人本身的一些性质，因此对于机构固有的性质进行分析，找到其不安全的因素加以避免，就提高机器人工作的安全性。少自由度并联机构中很多不安全因素是由于机构的奇异位形引起的，机构的奇异位形又与机构的雅可比矩阵有密切的关系，为了使机构处于安全的工作状态就要对机构的雅可比矩阵进行分析。论文中的五自由度机构，其雅可比矩阵不是方阵，不能够利用以前的矢量方法计算其雅可比矩阵，因此，笔者采用螺旋理论分析了机构反螺旋及雅克比矩阵。通过其相应的雅可比矩阵分析了机构可能出现奇异的位置，从而使机构可以实现安全的工作。

Singularity Analysis d Five Freedcrn Parallel Manipulator

The safety of parallel manipulator at work is mainly determined by its own mechanical performance.In order to enhance the safety of parallel manipulator,its own inherent property and unsafe factor must be analyzed.When the parallel manipulator lies in singularity,the workspace of the manipulator gets smaller and the joint velocity becomes infinite.The manipulator will lose control.The singularity of lower freedom parallel manipulator is not analyzed because its Jacobian matrix isn't phalanx.In the paper,Jacobian matrix of the parallel manipulator is analyzed by the screw theory.The singular position could be obtained by Jacobian matrix;the parallel manipulator could avoid the singularity at work.