Reciprocal Screw Theory Based Singularity Analysis of a Novel 3-DOF Parallel Manipulator

作     者：FANG Hairong FANG Yuefa ZHANG Ketao 

作者机构：School of Mechanical Electronic and Control engineering Beijing Jiaotong University Beijing 100044 China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2012年第25卷第4期

页      面：647-653页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 080203[工学-机械设计及理论] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by National Natural Science Foundation of China (Grant No. 50675016) 

主　　题：parallel manipulator singularity screw theory grassmann line geometry 

摘      要：Singularity analysis is an essential issue for the development and application of parallel *** of the existing researches focus on the singularity of parallel manipulators are carried out based on the study of Jacobian matrices.A 3-DOF parallel manipulator with symmetrical structure is *** novel parallel manipulator employs only revolute joints and consists of four closed-loop subchains connecting to both base and platform via revolute *** closed-loop subchain in each chain-leg is a spherical 6R *** motion characteristics of the output link in the spherical 6R linkage with symmetrical structure are analyzed based on the interrelationships between screw *** constraints that are exerted on the platform by each chain-leg are investigated applying the concept of generalized kinematic pair in terms of equivalent screw *** the geometric characteristics of the parallel manipulator,the singularity criteria of the parallel manipulator corresponding to different configurations are revealed based on the dependency of screw system and line *** existing conditions of certain configuration that a singularity must occur are *** paper presents a new way of singularity analysis based on disposition of constraint forces on the geometrically identified constraint plane and the proposed approach is capable of avoiding the complexity in solving the Jacobian matrices.