CAJ | 학술논문

奇异位形是机器人机构的一个十分重要的运动学特性，机器人的运动、受力、控制精度等方面的性能都与机构的奇异位形密切相关。该文对风洞四自由度并联机器人奇异位形进行了研究，使得机器人动平台能够平滑地绕开奇异点且能够获得最短路径，并建立了奇异位形优化方程。最后通过MATLAB仿真得出优化后的轨迹。
기이위형시궤기인궤구적일개십분중요적운동학특성，궤기인적운동、수력、공제정도등방면적성능도여궤구적기이위형밀절상관。해문대풍동사자유도병련궤기인기이위형진행료연구，사득궤기인동평태능구평활지요개기이점차능구획득최단로경，병건립료기이위형우화방정。최후통과MATLAB방진득출우화후적궤적。
Singular position was a very important kinematics feature of robot mechanism,singular position of robot mechanism was closely related to robot performance,such as movement,force,control accuracy,etc.In this paper,four-freedom degree parallel robot singular position was studied,so that the robot could smoothly bypass the singularity and the shortest path could be obtained,and a singular position optimization equation was established.Finally,the optimized simulation trajectory was obtained by matlab.