首页|New Findings from Yanshan University in the Area of Robotics Described (Singularity Analysis of Actuation Coordination and New Indices for Optimal Design of Redundantly Actuated Parallel Manipulators)
New Findings from Yanshan University in the Area of Robotics Described (Singularity Analysis of Actuation Coordination and New Indices for Optimal Design of Redundantly Actuated Parallel Manipulators)
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New study results on robotics have been published. According to news originating from Yanshan University by NewsRx editors, the research stated, “This paper focuses on singularity of actuation coordination for redundantly actuated parallel manipulators and proposes a series of novel indices to evaluate the performance of actuation coordination.” The news reporters obtained a quote from the research from Yanshan University: “The singularity is analyzed based on coordinated dynamics model and divided into two categories: input singularity and output singularity. Influences on control of redundantly actuated parallel manipulator are studied with mechanisms 2RPU+2UPR+RPR and 3RPR. Local and global indices of actuation coordination for redundantly actuated parallel manipulators are put forward.” According to the news editors, the research concluded: “A dimension optimal design which considering the proposed indices is operated on mechanism 6RPS. The research of this article possesses good reference significance for the performance analysis and control application of redundantly actuated parallel manipulators.”
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