Constraint Singularity-Free Design of the IRSBot-2
作者： Coralie Germain , Sébastien Briot , Stéphane Caro , Philippe Wenger
DOI: 10.1007/978-94-007-4620-6_43
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摘要: This paper deals with the constraint analysis of a novel two-degree-of-freedom (DOF) spatial translational parallel robot for high-speed applications named IRSBot-2 (acronym IRCCyN Spatial Robot 2 DOF). Unlike most two-DOF robots dedicated to planar motions this has two kinematic chains that provide very good intrinsic stiffness. First, architecture is presented and its singularity conditions are given. Then, singularities analyzed in parameter space based on cylindrical algebraic decomposition. Finally, deep carried out order determine sets design parameters prevent it from reaching any singularity. To best our knowledge, such an performed first time.
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