Определение и анализ типов сингулярностей для манипулятора параллельной структуры типа 3-RRR

Abstract

This paper considers the problem of definition singularities for planning manipulator’s trajectory with complex parallel kinematics, for example 3-RRR manipulator. The main advantage of robots with parallel kinematics is being widely used for precise applications to achieve complex motions and variable poses for the end effector tool. Application of these robots is widespread in areas such as medicine and the electronics industry. Parallel manipulators have better stiffness and dynamic characteristics than manipulators with sequential kinematics. Firstly, the application of manipulators of this type in various fields of science and technology, as well as their advantages and disadvantages, are considered. Secondly, an analysis of the Zlatanov taxonomy is made, and 1,2 and 3 types of singularities are considered. Thirdly, possible ways of solving problems of parallel kinematic manipulator are indicated. Fourthly, the issue of trajectory planning simulation can be solved with method of sampling. A promising direction is to determine the Lie group in the space of a manifold. Also, to determine the first three types of singularities, it is necessary to know the determinants of the matrices of direct and inverse kinematics. Finally, we discuss promising research directions for solving trajectory planning problems for manipulators of complex kinematics, electronic industry and industry 4.0, industry 5.0.