机构理论与装备设计教育部重点实验室常规学术报告（第9场）

机构理论与装备设计教育部重点实验室常规学术报告（第9场）

报告题目: Singularities of mechanisms and manipulators

时间：12月26日（周五）下午15：00

地点：天津大学会议楼第七会议室

主讲人: DimiterZlatanov

主讲人简介:

DimiterZlatanov graduated from the University of Sofia, Bulgaria with a M.Sc. in mathematics and mechanics and obtained a Ph.D. in mechanical engineering from the University of Toronto, Canada. He is currently with the University of Genoa, Italy. Previously, he has done research and taught at Laval University, Quebec City, Canada, the University of Innsbruck, Austria, and Tokyo City University, Japan.

DrZlatanov developed a novel framework for the study of singularities of mechanisms and robots with special emphasis on complex multi-loop kinematic chains. He discovered one of the first four-degree-of-freedom parallel mechanisms, and is a recognized expert in the area of parallel manipulators and the modeling and analysis of mechanisms using screw systems. DimiterZlatanov is an organizers of Summer Screws, a popular summer school on screw-theoretical methods in robotics, held regularly since 2009.

报告摘要:

In singular configurations, the properties and behaviour of mechanisms can undergo sudden and dramatic changes. Hence the enormous practical value of singularity analysis for the design and use of robotic manipulators. The theoretical importance of the topic stems from the critical role singularity plays in algebraic geometry and in the theory of differentiable mappings. The study of singularities has been a major topic in the robotics literature. Yet, even among specialists in robot kinetostatics, there is slight knowledge and often misunderstanding about what singularities are in general and what their effects can be. The talk will try to provide a simple but rigorous introduction. Particular attention will be given to lesser known types of singularity, exhibited by some parallel robots and other mechanisms with closed-loop kinematic chains.